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ompl::geometric::FMT::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/fmt/FMT.h>

Public Types

enum  SetType { SET_CLOSED , SET_OPEN , SET_UNVISITED }
 The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither) More...
 

Public Member Functions

 Motion (const base::SpaceInformationPtr &si)
 Constructor that allocates memory for the state.
 
void setState (base::State *state)
 Set the state associated with the motion.
 
base::StategetState () const
 Get the state associated with the motion.
 
void setParent (Motion *parent)
 Set the parent motion of the current motion.
 
MotiongetParent () const
 Get the parent motion of the current motion.
 
void setCost (const base::Cost cost)
 Set the cost-to-come for the current motion.
 
base::Cost getCost () const
 Get the cost-to-come for the current motion.
 
void setSetType (const SetType currentSet)
 Specify the set that this motion belongs to.
 
SetType getSetType () const
 Get the set that this motion belongs to.
 
bool alreadyCC (Motion *m)
 Returns true if the connection to m has been already tested and failed because of a collision.
 
void addCC (Motion *m)
 Caches a failed collision check to m.
 
void setHeuristicCost (const base::Cost h)
 Set the cost to go heuristic cost.
 
base::Cost getHeuristicCost () const
 Get the cost to go heuristic cost.
 
std::vector< Motion * > & getChildren ()
 Get the children of the motion.
 

Protected Attributes

base::Statestate_ {nullptr}
 The state contained by the motion.
 
Motionparent_ {nullptr}
 The parent motion in the exploration tree.
 
base::Cost cost_ {0.}
 The cost of this motion.
 
base::Cost hcost_ {0.}
 The minimum cost to go of this motion (heuristically computed)
 
SetType currentSet_ {SET_UNVISITED}
 The flag indicating which set a motion belongs to.
 
std::set< Motion * > collChecksDone_
 Contains the connections attempted FROM this node.
 
std::vector< Motion * > children_
 The set of motions descending from the current motion.
 

Detailed Description

Representation of a motion.

Definition at line 214 of file FMT.h.

Member Enumeration Documentation

◆ SetType

The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither)

Definition at line 224 of file FMT.h.

Constructor & Destructor Documentation

◆ Motion()

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

Constructor that allocates memory for the state.

Definition at line 234 of file FMT.h.

Member Function Documentation

◆ addCC()

void ompl::geometric::FMT::Motion::addCC ( Motion m)
inline

Caches a failed collision check to m.

Definition at line 297 of file FMT.h.

◆ alreadyCC()

bool ompl::geometric::FMT::Motion::alreadyCC ( Motion m)
inline

Returns true if the connection to m has been already tested and failed because of a collision.

Definition at line 291 of file FMT.h.

◆ getChildren()

std::vector< Motion * > & ompl::geometric::FMT::Motion::getChildren ( )
inline

Get the children of the motion.

Definition at line 315 of file FMT.h.

◆ getCost()

base::Cost ompl::geometric::FMT::Motion::getCost ( ) const
inline

Get the cost-to-come for the current motion.

Definition at line 272 of file FMT.h.

◆ getHeuristicCost()

base::Cost ompl::geometric::FMT::Motion::getHeuristicCost ( ) const
inline

Get the cost to go heuristic cost.

Definition at line 309 of file FMT.h.

◆ getParent()

Motion * ompl::geometric::FMT::Motion::getParent ( ) const
inline

Get the parent motion of the current motion.

Definition at line 260 of file FMT.h.

◆ getSetType()

SetType ompl::geometric::FMT::Motion::getSetType ( ) const
inline

Get the set that this motion belongs to.

Definition at line 284 of file FMT.h.

◆ getState()

base::State * ompl::geometric::FMT::Motion::getState ( ) const
inline

Get the state associated with the motion.

Definition at line 248 of file FMT.h.

◆ setCost()

void ompl::geometric::FMT::Motion::setCost ( const base::Cost  cost)
inline

Set the cost-to-come for the current motion.

Definition at line 266 of file FMT.h.

◆ setHeuristicCost()

void ompl::geometric::FMT::Motion::setHeuristicCost ( const base::Cost  h)
inline

Set the cost to go heuristic cost.

Definition at line 303 of file FMT.h.

◆ setParent()

void ompl::geometric::FMT::Motion::setParent ( Motion parent)
inline

Set the parent motion of the current motion.

Definition at line 254 of file FMT.h.

◆ setSetType()

void ompl::geometric::FMT::Motion::setSetType ( const SetType  currentSet)
inline

Specify the set that this motion belongs to.

Definition at line 278 of file FMT.h.

◆ setState()

void ompl::geometric::FMT::Motion::setState ( base::State state)
inline

Set the state associated with the motion.

Definition at line 242 of file FMT.h.

Member Data Documentation

◆ children_

std::vector<Motion *> ompl::geometric::FMT::Motion::children_
protected

The set of motions descending from the current motion.

Definition at line 340 of file FMT.h.

◆ collChecksDone_

std::set<Motion *> ompl::geometric::FMT::Motion::collChecksDone_
protected

Contains the connections attempted FROM this node.

Definition at line 337 of file FMT.h.

◆ cost_

base::Cost ompl::geometric::FMT::Motion::cost_ {0.}
protected

The cost of this motion.

Definition at line 328 of file FMT.h.

◆ currentSet_

SetType ompl::geometric::FMT::Motion::currentSet_ {SET_UNVISITED}
protected

The flag indicating which set a motion belongs to.

Definition at line 334 of file FMT.h.

◆ hcost_

base::Cost ompl::geometric::FMT::Motion::hcost_ {0.}
protected

The minimum cost to go of this motion (heuristically computed)

Definition at line 331 of file FMT.h.

◆ parent_

Motion* ompl::geometric::FMT::Motion::parent_ {nullptr}
protected

The parent motion in the exploration tree.

Definition at line 325 of file FMT.h.

◆ state_

base::State* ompl::geometric::FMT::Motion::state_ {nullptr}
protected

The state contained by the motion.

Definition at line 322 of file FMT.h.


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