ompl::geometric::RRTstar::Motion Class Reference
Representation of a motion. More...
#include <ompl/geometric/planners/rrt/RRTstar.h>
Public Member Functions | |
Motion (const base::SpaceInformationPtr &si) | |
Constructor that allocates memory for the state. This constructor automatically allocates memory for state, cost, and incCost. | |
Public Attributes | |
base::State * | state |
The state contained by the motion. | |
Motion * | parent |
The parent motion in the exploration tree. | |
bool | inGoal |
Set to true if this vertex is in the goal region. | |
base::Cost | cost |
The cost up to this motion. | |
base::Cost | incCost |
The incremental cost of this motion's parent to this motion (this is stored to save distance computations in the updateChildCosts() method) | |
std::vector< Motion * > | children |
The set of motions descending from the current motion. | |
Detailed Description
The documentation for this class was generated from the following file:
- ompl/geometric/planners/rrt/RRTstar.h