Representation of a witness vertex in the search tree. More...

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

Inheritance diagram for ompl::control::HySST::Witness:

Public Member Functions
	Witness ()=default
	Default Constructor.
	Witness (const control::SpaceInformation *si)
	Constructor that allocates memory for the state.
base::State *	getState () const override
	Get the state contained by the representative motion.
Motion *	getParent () const override
	Get the state contained by the parent motion of the representative motion.
void	linkRep (Motion *lRep)
	Set the representative of the witness.
Public Member Functions inherited from ompl::control::HySST::Motion
	Motion ()=default
	Default constructor.
	Motion (const control::SpaceInformation *si)
	Constructor that allocates memory for the state.
virtual	~Motion ()=default
	Destructor.

Public Attributes
Motion *	rep_ {nullptr}
	The node in the tree that is within the pruning radius.
Public Attributes inherited from ompl::control::HySST::Motion
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 witness vertex in the search tree.

Definition at line 371 of file HySST.h.

Constructor & Destructor Documentation

◆ Witness()

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

inline

Constructor that allocates memory for the state.

Definition at line 378 of file HySST.h.

Member Function Documentation

◆ getParent()

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

inlineoverridevirtual

Get the state contained by the parent motion of the representative motion.

Returns: The state contained by the parent motion of the representative motion

Reimplemented from ompl::control::HySST::Motion.

Definition at line 395 of file HySST.h.

◆ getState()

base::State * ompl::control::HySST::Witness::getState ( ) const

inlineoverridevirtual

Get the state contained by the representative motion.

Returns: The state contained by the representative motion

Reimplemented from ompl::control::HySST::Motion.

Definition at line 386 of file HySST.h.

◆ linkRep()

void ompl::control::HySST::Witness::linkRep ( Motion * lRep )

inline

Set the representative of the witness.

Parameters

lRep	The representative motion

Definition at line 404 of file HySST.h.

Member Data Documentation

◆ rep_

Motion* ompl::control::HySST::Witness::rep_ {nullptr}

The node in the tree that is within the pruning radius.

Definition at line 410 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