Representation of a motion. More...

#include <ompl/geometric/planners/fmt/FMT.h>

Public Types
enum	SetType { SET_CLOSED , SET_OPEN , SET_UNVISITED }
	The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither). More...

Public Member Functions
	Motion (const base::SpaceInformationPtr &si)
	Constructor that allocates memory for the state.
void	setState (base::State *state)
	Set the state associated with the motion.
base::State *	getState () const
	Get the state associated with the motion.
void	setParent (Motion *parent)
	Set the parent motion of the current motion.
Motion *	getParent () const
	Get the parent motion of the current motion.
void	setCost (const base::Cost cost)
	Set the cost-to-come for the current motion.
base::Cost	getCost () const
	Get the cost-to-come for the current motion.
void	setSetType (const SetType currentSet)
	Specify the set that this motion belongs to.
SetType	getSetType () const
	Get the set that this motion belongs to.
bool	alreadyCC (Motion *m)
	Returns true if the connection to m has been already tested and failed because of a collision.
void	addCC (Motion *m)
	Caches a failed collision check to m.
void	setHeuristicCost (const base::Cost h)
	Set the cost to go heuristic cost.
base::Cost	getHeuristicCost () const
	Get the cost to go heuristic cost.
std::vector< Motion * > &	getChildren ()
	Get the children of the motion.

Protected Attributes
base::State *	state_ {nullptr}
	The state contained by the motion.
Motion *	parent_ {nullptr}
	The parent motion in the exploration tree.
base::Cost	cost_ {0.}
	The cost of this motion.
base::Cost	hcost_ {0.}
	The minimum cost to go of this motion (heuristically computed).
SetType	currentSet_ {SET_UNVISITED}
	The flag indicating which set a motion belongs to.
std::set< Motion * >	collChecksDone_
	Contains the connections attempted FROM this node.
std::vector< Motion * >	children_
	The set of motions descending from the current motion.

Detailed Description

Representation of a motion.

Definition at line 214 of file FMT.h.

Member Enumeration Documentation

◆ SetType

enum ompl::geometric::FMT::Motion::SetType

The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither).

Definition at line 224 of file FMT.h.

Constructor & Destructor Documentation

◆ Motion()

ompl::geometric::FMT::Motion::Motion ( const base::SpaceInformationPtr & si )

inline

Constructor that allocates memory for the state.

Definition at line 234 of file FMT.h.

Member Function Documentation

◆ addCC()

void ompl::geometric::FMT::Motion::addCC ( Motion * m )

inline

Caches a failed collision check to m.

Definition at line 296 of file FMT.h.

◆ alreadyCC()

bool ompl::geometric::FMT::Motion::alreadyCC ( Motion * m )

inline

Returns true if the connection to m has been already tested and failed because of a collision.

Definition at line 290 of file FMT.h.

◆ getChildren()

std::vector< Motion * > & ompl::geometric::FMT::Motion::getChildren ( )

inline

Get the children of the motion.

Definition at line 314 of file FMT.h.

◆ getCost()

base::Cost ompl::geometric::FMT::Motion::getCost ( ) const

inline

Get the cost-to-come for the current motion.

Definition at line 271 of file FMT.h.

◆ getHeuristicCost()

base::Cost ompl::geometric::FMT::Motion::getHeuristicCost ( ) const

inline

Get the cost to go heuristic cost.

Definition at line 308 of file FMT.h.

◆ getParent()

Motion * ompl::geometric::FMT::Motion::getParent ( ) const

inline

Get the parent motion of the current motion.

Definition at line 259 of file FMT.h.

◆ getSetType()

SetType ompl::geometric::FMT::Motion::getSetType ( ) const

inline

Get the set that this motion belongs to.

Definition at line 283 of file FMT.h.

◆ getState()

base::State * ompl::geometric::FMT::Motion::getState ( ) const

inline

Get the state associated with the motion.

Definition at line 247 of file FMT.h.

◆ setCost()

void ompl::geometric::FMT::Motion::setCost ( const base::Cost cost )

inline

Set the cost-to-come for the current motion.

Definition at line 265 of file FMT.h.

◆ setHeuristicCost()

void ompl::geometric::FMT::Motion::setHeuristicCost ( const base::Cost h )

inline

Set the cost to go heuristic cost.

Definition at line 302 of file FMT.h.

◆ setParent()

void ompl::geometric::FMT::Motion::setParent ( Motion * parent )

inline

Set the parent motion of the current motion.

Definition at line 253 of file FMT.h.

◆ setSetType()

void ompl::geometric::FMT::Motion::setSetType ( const SetType currentSet )

inline

Specify the set that this motion belongs to.

Definition at line 277 of file FMT.h.

◆ setState()

void ompl::geometric::FMT::Motion::setState ( base::State * state )

inline

Set the state associated with the motion.

Definition at line 241 of file FMT.h.

Member Data Documentation

◆ children_

std::vector<Motion *> ompl::geometric::FMT::Motion::children_

protected

The set of motions descending from the current motion.

Definition at line 339 of file FMT.h.

◆ collChecksDone_

std::set<Motion *> ompl::geometric::FMT::Motion::collChecksDone_

protected

Contains the connections attempted FROM this node.

Definition at line 336 of file FMT.h.

◆ cost_

base::Cost ompl::geometric::FMT::Motion::cost_ {0.}

protected

The cost of this motion.

Definition at line 327 of file FMT.h.

◆ currentSet_

SetType ompl::geometric::FMT::Motion::currentSet_ {SET_UNVISITED}

protected

The flag indicating which set a motion belongs to.

Definition at line 333 of file FMT.h.

◆ hcost_

base::Cost ompl::geometric::FMT::Motion::hcost_ {0.}

protected

The minimum cost to go of this motion (heuristically computed).

Definition at line 330 of file FMT.h.

◆ parent_

Motion* ompl::geometric::FMT::Motion::parent_ {nullptr}

protected

The parent motion in the exploration tree.

Definition at line 324 of file FMT.h.

◆ state_

base::State* ompl::geometric::FMT::Motion::state_ {nullptr}

protected

The state contained by the motion.

Definition at line 321 of file FMT.h.

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

ompl/geometric/planners/fmt/FMT.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ SetType

Constructor & Destructor Documentation

◆ Motion()

Member Function Documentation

◆ addCC()

◆ alreadyCC()

◆ getChildren()

◆ getCost()

◆ getHeuristicCost()

◆ getParent()

◆ getSetType()

◆ getState()

◆ setCost()

◆ setHeuristicCost()

◆ setParent()

◆ setSetType()

◆ setState()

Member Data Documentation

◆ children_

◆ collChecksDone_

◆ cost_

◆ currentSet_

◆ hcost_

◆ parent_

◆ state_