Representation of a bidirectional motion. More...

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)

using	BiDirMotionPtrs = std::vector< BiDirMotion * >

Public Member Functions
	BiDirMotion (TreeType *tree)

	BiDirMotion (const base::SpaceInformationPtr &si, TreeType *tree)
	Constructor that allocates memory for the state.

base::Cost	getCost () const
	Set the state associated with the motion.

base::Cost	getOtherCost () const
	Get cost of this motion in the inactive tree.

void	setCost (base::Cost cost)
	Set the cost of the motion.

void	setParent (BiDirMotion *parent)
	Set the parent of the motion.

BiDirMotion *	getParent () const
	Get the parent of the motion.

void	setChildren (BiDirMotionPtrs children)
	Set the children of the motion.

BiDirMotionPtrs	getChildren () const
	Get the children of the motion.

void	setCurrentSet (SetType set)
	Set the current set of the motion.

SetType	getCurrentSet () const
	Fet the current set of the motion.

SetType	getOtherSet () const
	Get set of this motion in the inactive tree.

void	setTreeType (TreeType *treePtr)
	Set tree identifier for this motion.

TreeType	getTreeType () const
	Get tree identifier for this motion.

void	setState (base::State *state)
	Set the state associated with the motion.

base::State *	getState () const
	Get the state associated with the motion.

bool	alreadyCC (BiDirMotion *m)
	Returns true if the connection to m has been already tested and failed because of a collision.

void	addCC (BiDirMotion *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.

Public Attributes
base::State *	state_
	The state contained by the motion.

BiDirMotion *	parent_ [2]
	The parent motion in the exploration tree

BiDirMotionPtrs	children_ [2]
	The set of motions descending from the current motion

SetType	currentSet_ [2]
	Current set in which the motion is included.

TreeType *	tree_
	Tree identifier

base::Cost	cost_ [2]
	The cost of this motion

base::Cost	hcost_ [2]
	The minimum cost to go of this motion (heuristically computed)

std::set< BiDirMotion * >	collChecksDone_
	Contains the connections attempted FROM this node.

Detailed Description

Representation of a bidirectional motion.

Definition at line 369 of file BFMT.h.

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

Public Types