ompl::geometric::SST::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/sst/SST.h>

Inheritance diagram for ompl::geometric::SST::Motion:

Public Member Functions

 Motion (const base::SpaceInformationPtr &si)
 Constructor that allocates memory for the state and the control. More...
 
virtual base::StategetState () const
 
virtual MotiongetParent () const
 

Public Attributes

base::Cost accCost_ {0.}
 
base::Statestate_ {nullptr}
 The state contained by the motion. More...
 
Motionparent_ {nullptr}
 The parent motion in the exploration tree. More...
 
unsigned numChildren_ {0}
 Number of children. More...
 
bool inactive_ {false}
 If inactive, this node is not considered for selection. More...
 

Detailed Description

Representation of a motion.

This only contains pointers to parent motions as we only need to go backwards in the tree.

Definition at line 170 of file SST.h.

Constructor & Destructor Documentation

◆ Motion()

ompl::geometric::SST::Motion::Motion ( const base::SpaceInformationPtr &  si)
inline

Constructor that allocates memory for the state and the control.

Definition at line 176 of file SST.h.

Member Function Documentation

◆ getParent()

virtual Motion * ompl::geometric::SST::Motion::getParent ( ) const
inlinevirtual

Definition at line 187 of file SST.h.

◆ getState()

virtual base::State * ompl::geometric::SST::Motion::getState ( ) const
inlinevirtual

Definition at line 183 of file SST.h.

Member Data Documentation

◆ accCost_

base::Cost ompl::geometric::SST::Motion::accCost_ {0.}

Definition at line 191 of file SST.h.

◆ inactive_

bool ompl::geometric::SST::Motion::inactive_ {false}

If inactive, this node is not considered for selection.

Definition at line 203 of file SST.h.

◆ numChildren_

unsigned ompl::geometric::SST::Motion::numChildren_ {0}

Number of children.

Definition at line 200 of file SST.h.

◆ parent_

Motion* ompl::geometric::SST::Motion::parent_ {nullptr}

The parent motion in the exploration tree.

Definition at line 197 of file SST.h.

◆ state_

base::State* ompl::geometric::SST::Motion::state_ {nullptr}

The state contained by the motion.

Definition at line 194 of file SST.h.


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