Representation of a 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)

Public Member Functions
	Motion (const base::SpaceInformationPtr &si)
	Constructor that allocates memory for the state.

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

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

void	setParent (Motion *parent)
	Set the parent motion of the current motion.

Motion *	getParent () const
	Get the parent motion of the current motion.

void	setCost (const base::Cost cost)
	Set the cost-to-come for the current motion.

base::Cost	getCost () const
	Get the cost-to-come for the current motion.

void	setSetType (const SetType currentSet)
	Specify the set that this motion belongs to.

SetType	getSetType () const
	Get the set that this motion belongs to.

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

void	addCC (Motion *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.

std::vector< Motion * > &	getChildren ()
	Get the children of the motion.

Protected Attributes
base::State *	state_ {nullptr}
	The state contained by the motion.

Motion *	parent_ {nullptr}
	The parent motion in the exploration tree.

base::Cost	cost_ {0.}
	The cost of this motion.

base::Cost	hcost_ {0.}
	The minimum cost to go of this motion (heuristically computed)

SetType	currentSet_ {SET_UNVISITED}
	The flag indicating which set a motion belongs to.

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

std::vector< Motion * >	children_
	The set of motions descending from the current motion.

Detailed Description

Representation of a motion.

Definition at line 310 of file FMT.h.

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

Public Types