Representation of a motion. More...

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

Inheritance diagram for ompl::control::SST::Motion:

Public Member Functions
	Motion (const SpaceInformation *si)
	Constructor that allocates memory for the state and the control.
virtual base::State *	getState () const
virtual Motion *	getParent () const

Public Attributes
base::Cost	accCost_ {0}
base::State *	state_ {nullptr}
	The state contained by the motion.
Control *	control_ {nullptr}
	The control contained by the motion.
unsigned int	steps_ {0}
	The number of steps_ the control is applied for.
Motion *	parent_ {nullptr}
	The parent motion in the exploration tree.
unsigned	numChildren_ {0}
	Number of children.
bool	inactive_ {false}
	If inactive, this node is not considered for selection.

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 154 of file SST.h.

Constructor & Destructor Documentation

◆ Motion()

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

inline

Constructor that allocates memory for the state and the control.

Definition at line 160 of file SST.h.

Member Function Documentation

◆ getParent()

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

inlinevirtual

Definition at line 170 of file SST.h.

◆ getState()

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

inlinevirtual

Definition at line 166 of file SST.h.

Member Data Documentation

◆ accCost_

base::Cost ompl::control::SST::Motion::accCost_ {0}

Definition at line 175 of file SST.h.

◆ control_

Control* ompl::control::SST::Motion::control_ {nullptr}

The control contained by the motion.

Definition at line 181 of file SST.h.

◆ inactive_

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

If inactive, this node is not considered for selection.

Definition at line 193 of file SST.h.

◆ numChildren_

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

Number of children.

Definition at line 190 of file SST.h.

◆ parent_

Motion* ompl::control::SST::Motion::parent_ {nullptr}

The parent motion in the exploration tree.

Definition at line 187 of file SST.h.

◆ state_

base::State* ompl::control::SST::Motion::state_ {nullptr}

The state contained by the motion.

Definition at line 178 of file SST.h.

◆ steps_

unsigned int ompl::control::SST::Motion::steps_ {0}

The number of steps_ the control is applied for.

Definition at line 184 of file SST.h.

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

ompl/control/planners/sst/SST.h

Public Member Functions

Public Attributes