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.

## ◆ 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:
• ompl/control/planners/pdst/PDST.h