ompl::control::PDST::Motion Struct Reference

Class representing the tree of motions exploring the state space. More...

#include <ompl/control/planners/pdst/PDST.h>

Public Member Functions

 Motion (base::State *startState, base::State *endState, Control *control, unsigned int controlDuration, double priority, Motion *parent)
 
 Motion (base::State *state)
 constructor for start states
 
double score () const
 The score is used to order motions in a priority queue.
 
void updatePriority ()
 

Public Attributes

base::StatestartState_
 The starting point of this motion.
 
base::StateendState_
 The state reached by this motion.
 
control::Controlcontrol_
 The control that was applied to arrive at this state from the parent.
 
unsigned int controlDuration_
 The duration that the control was applied to arrive at this state from the parent.
 
double priority_
 Priority for selecting this path to extend from in the future.
 
Motionparent_
 Parent motion from which this one started.
 
Cellcell_
 Pointer to the cell that contains this path.
 
BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
 Handle to the element of the priority queue for this Motion.
 
bool isSplit_
 

Detailed Description

Class representing the tree of motions exploring the state space.

Definition at line 145 of file PDST.h.

Member Data Documentation

◆ isSplit_

bool ompl::control::PDST::Motion::isSplit_

Whether this motion is the result of a split operation, in which case its endState_ and control_ should not be freed.

Definition at line 202 of file PDST.h.


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