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ompl::geometric::RRTstar::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/rrt/RRTstar.h>

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::Statestate
 The state contained by the motion.
 
Motionparent
 The parent motion in the exploration tree.
 
bool inGoal
 Set to true if this vertex is in the goal region.
 
base::Cost cost
 The cost up to this motion.
 
base::Cost incCost
 The incremental cost of this motion's parent to this motion (this is stored to save distance computations in the updateChildCosts() method)
 
std::vector< Motion * > children
 The set of motions descending from the current motion.
 

Detailed Description

Representation of a motion.

Definition at line 333 of file RRTstar.h.

Constructor & Destructor Documentation

◆ Motion()

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

Constructor that allocates memory for the state. This constructor automatically allocates memory for state, cost, and incCost.

Definition at line 338 of file RRTstar.h.

Member Data Documentation

◆ children

std::vector<Motion *> ompl::geometric::RRTstar::Motion::children

The set of motions descending from the current motion.

Definition at line 361 of file RRTstar.h.

◆ cost

base::Cost ompl::geometric::RRTstar::Motion::cost

The cost up to this motion.

Definition at line 354 of file RRTstar.h.

◆ incCost

base::Cost ompl::geometric::RRTstar::Motion::incCost

The incremental cost of this motion's parent to this motion (this is stored to save distance computations in the updateChildCosts() method)

Definition at line 358 of file RRTstar.h.

◆ inGoal

bool ompl::geometric::RRTstar::Motion::inGoal

Set to true if this vertex is in the goal region.

Definition at line 351 of file RRTstar.h.

◆ parent

Motion* ompl::geometric::RRTstar::Motion::parent

The parent motion in the exploration tree.

Definition at line 348 of file RRTstar.h.

◆ state

base::State* ompl::geometric::RRTstar::Motion::state

The state contained by the motion.

Definition at line 345 of file RRTstar.h.


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