ompl::geometric::LBTRRT::Motion Class Reference
Representation of a motion. More...
#include <ompl/geometric/planners/rrt/LBTRRT.h>
Public Member Functions | |
| Motion (const base::SpaceInformationPtr &si) | |
| Constructor that allocates memory for the state. | |
Public Attributes | |
| base::State * | state_ {nullptr} |
| The state contained by the motion. | |
| std::size_t | id_ |
| unique id of the motion | |
| double | costLb_ |
| The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redundant, the cost in lowerBoundGraph_ may change causing ordering according to it inconsistencies. | |
| Motion * | parentApx_ {nullptr} |
| The parent motion in the approximation tree. | |
| double | costApx_ {0.0} |
| The approximation cost. | |
| std::vector< Motion * > | childrenApx_ |
| The children in the approximation tree. | |
Detailed Description
Representation of a motion.
a motion is a simultunaeous represntation of the two trees used by LBT-RRT a lower bound tree named Tlb and an approximaion tree named Tapx.
The documentation for this class was generated from the following file:
- ompl/geometric/planners/rrt/LBTRRT.h