ompl::geometric::BFMT::BiDirMotion Class Reference

Representation of a bidirectional motion. More...

#include <ompl/geometric/planners/fmt/BFMT.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)

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.

BiDirMotiongetParent () 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::StategetState () const
Get the state associated with the motion.

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

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::Statestate_
The state contained by the motion.

BiDirMotionparent_ [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.

TreeTypetree_
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 273 of file BFMT.h.

The documentation for this class was generated from the following file:
• ompl/geometric/planners/fmt/BFMT.h