Representation of a motion. More...

#include <ompl/geometric/planners/rrt/TRRTstar.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

Representation of a motion.

Definition at line 312 of file TRRTstar.h.

Constructor & Destructor Documentation

◆ Motion()

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

inline

Constructor that allocates memory for the state. This constructor automatically allocates memory for state, cost, and incCost.

Definition at line 317 of file TRRTstar.h.

Member Data Documentation

◆ children

std::vector<Motion *> ompl::geometric::TRRTstar::Motion::children

The set of motions descending from the current motion.

Definition at line 340 of file TRRTstar.h.

◆ cost

base::Cost ompl::geometric::TRRTstar::Motion::cost

The cost up to this motion.

Definition at line 333 of file TRRTstar.h.

◆ incCost

base::Cost ompl::geometric::TRRTstar::Motion::incCost

The incremental cost of this motion's parent to this motion (this is stored to save distance computations in the updateChildCosts() method).

Definition at line 337 of file TRRTstar.h.

◆ inGoal

bool ompl::geometric::TRRTstar::Motion::inGoal

Set to true if this vertex is in the goal region.

Definition at line 330 of file TRRTstar.h.

◆ parent

Motion* ompl::geometric::TRRTstar::Motion::parent

The parent motion in the exploration tree.

Definition at line 327 of file TRRTstar.h.

◆ state

base::State* ompl::geometric::TRRTstar::Motion::state

The state contained by the motion.

Definition at line 324 of file TRRTstar.h.

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

ompl/geometric/planners/rrt/TRRTstar.h

Public Member Functions

Public Attributes