ompl::geometric::RRTXstatic::Motion Class Reference

Representation of a motion (node of the tree) More...

#include <ompl/geometric/planners/rrt/RRTXstatic.h>

Public Member Functions

 Motion (const base::SpaceInformationPtr &si)
 Constructor that allocates memory for the state. This constructor automatically allocates memory for state, cost, and incCost.

Public Attributes

 The state contained by the motion.
 The parent motion in the exploration tree.
base::Cost cost
 The cost up to this motion.
std::vector< Motion * > children
 The set of motions descending from the current motion.
std::vector< std::pair< Motion *, bool > > nbh
 The set of neighbors of this motion with a boolean indicating if the feasibility of edge as been tested.
BinaryHeap< Motion *, MotionCompare >::Element * handle
 Handle to identify the motion in the queue.

Detailed Description

Representation of a motion (node of the tree)

Definition at line 326 of file RRTXstatic.h.

The documentation for this class was generated from the following file: