ompl::geometric::RRTstar::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/rrt/RRTstar.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

base::Statestate
 The state contained by the motion.
 
Motionparent
 The parent motion in the exploration tree.
 
bool inGoal
 Set to true if this vertex is in the goal region.
 
base::Cost cost
 The cost up to this motion.
 
base::Cost incCost
 The incremental cost of this motion's parent to this motion (this is stored to save distance computations in the updateChildCosts() method)
 
std::vector< Motion * > children
 The set of motions descending from the current motion.
 

Detailed Description

Representation of a motion.

Definition at line 335 of file RRTstar.h.


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