Loading...
Searching...
No Matches
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. More...
 

Public Attributes

base::Statestate
 The state contained by the motion. More...
 
Motionparent
 The parent motion in the exploration tree. More...
 
bool inGoal
 Set to true if this vertex is in the goal region. More...
 
base::Cost cost
 The cost up to this motion. More...
 
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) More...
 
std::vector< Motion * > children
 The set of motions descending from the current motion. More...
 

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: