Representation of a motion (node of the tree) More...

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.

base::Cost	cost
	The cost up to this motion.

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

std::vector< std::pair< Motion *, bool > >	nbh
	The set of neighbors of this motion with a boolean indicating if the feasibility of edge as been tested.

BinaryHeap< Motion , MotionCompare >::Element	handle
	Handle to identify the motion in the queue.

Detailed Description

Representation of a motion (node of the tree)

Definition at line 422 of file RRTXstatic.h.

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

Public Member Functions