Class representing the tree of motions exploring the state space. More...

Public Member Functions
	Motion (base::State startState, base::State endState, Control control, unsigned int controlDuration, double priority, Motion parent)

	Motion (base::State *state)
	constructor for start states

double	score () const
	The score is used to order motions in a priority queue.

void	updatePriority ()

Public Attributes
base::State *	startState_
	The starting point of this motion.

base::State *	endState_
	The state reached by this motion.

control::Control *	control_
	The control that was applied to arrive at this state from the parent.

unsigned int	controlDuration_
	The duration that the control was applied to arrive at this state from the parent.

double	priority_
	Priority for selecting this path to extend from in the future.

Motion *	parent_
	Parent motion from which this one started.

Cell *	cell_
	Pointer to the cell that contains this path.

BinaryHeap< Motion , MotionCompare >::Element	heapElement_
	Handle to the element of the priority queue for this Motion.

bool	isSplit_

Detailed Description

Class representing the tree of motions exploring the state space.

Definition at line 241 of file PDST.h.

Member Data Documentation

bool ompl::control::PDST::Motion::isSplit_

Whether this motion is the result of a split operation, in which case its endState_ and control_ should not be freed.

Definition at line 298 of file PDST.h.

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