Representation of a motion. More...

#include <ompl/control/planners/sst/HySST.h>

Inheritance diagram for ompl::control::HySST::Motion:

Public Member Functions
	Motion ()=default
	Default constructor.
	Motion (const control::SpaceInformation *si)
	Constructor that allocates memory for the state.
virtual	~Motion ()=default
	Destructor.
virtual base::State *	getState () const
	Get the state contained by the motion.
virtual Motion *	getParent () const
	Get the parent motion in the tree.

Public Attributes
base::Cost	accCost_ {0.}
	The total cost accumulated from the root to this vertex.
base::State *	state {nullptr}
	The state contained by the motion.
Motion *	parent {nullptr}
	The parent motion in the exploration tree.
unsigned	numChildren_ {0}
	Number of children. Starting with 0.
bool	inactive_ {false}
	If inactive, this node is not considered for selection.
std::vector< base::State * > *	solutionPair {nullptr}
	The integration steps defining the edge of the motion, between the parent and child vertices.
control::Control *	control {nullptr}
	The inputs associated with the solution pair.

Detailed Description

Representation of a motion.

This only contains pointers to parent motions as we: only need to go backwards in the tree.

Definition at line 79 of file HySST.h.

Constructor & Destructor Documentation

◆ Motion()

ompl::control::HySST::Motion::Motion ( const control::SpaceInformation * si )

inline

Constructor that allocates memory for the state.

Definition at line 86 of file HySST.h.

Member Function Documentation

◆ getParent()

virtual Motion * ompl::control::HySST::Motion::getParent ( ) const

inlinevirtual

Get the parent motion in the tree.

Reimplemented in ompl::control::HySST::Witness.

Definition at line 100 of file HySST.h.

◆ getState()

virtual base::State * ompl::control::HySST::Motion::getState ( ) const

inlinevirtual

Get the state contained by the motion.

Reimplemented in ompl::control::HySST::Witness.

Definition at line 94 of file HySST.h.

Member Data Documentation

◆ accCost_

base::Cost ompl::control::HySST::Motion::accCost_ {0.}

The total cost accumulated from the root to this vertex.

Definition at line 106 of file HySST.h.

◆ control

control::Control* ompl::control::HySST::Motion::control {nullptr}

The inputs associated with the solution pair.

Definition at line 124 of file HySST.h.

◆ inactive_

bool ompl::control::HySST::Motion::inactive_ {false}

If inactive, this node is not considered for selection.

Definition at line 118 of file HySST.h.

◆ numChildren_

unsigned ompl::control::HySST::Motion::numChildren_ {0}

Number of children. Starting with 0.

Definition at line 115 of file HySST.h.

◆ parent

Motion* ompl::control::HySST::Motion::parent {nullptr}

The parent motion in the exploration tree.

Definition at line 112 of file HySST.h.

◆ solutionPair

std::vector<base::State *>* ompl::control::HySST::Motion::solutionPair {nullptr}

The integration steps defining the edge of the motion, between the parent and child vertices.

Definition at line 121 of file HySST.h.

◆ state

base::State* ompl::control::HySST::Motion::state {nullptr}

The state contained by the motion.

Definition at line 109 of file HySST.h.

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

ompl/control/planners/sst/HySST.h

Public Member Functions

Public Attributes