Representation of a motion (node of the tree) More...
#include <ompl/geometric/planners/rrt/RRTXstatic.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::State * | state |
The state contained by the motion. | |
Motion * | parent |
The parent motion in the exploration tree. | |
base::Cost | cost |
The cost up to this motion. | |
std::vector< Motion * > | children |
The set of motions descending from the current motion. | |
std::vector< std::pair< Motion *, bool > > | nbh |
The set of neighbors of this motion with a boolean indicating if the feasibility of edge as been tested. | |
BinaryHeap< Motion *, MotionCompare >::Element * | handle |
Handle to identify the motion in the queue. | |
Detailed Description
Representation of a motion (node of the tree)
Definition at line 326 of file RRTXstatic.h.
Constructor & Destructor Documentation
◆ Motion()
|
inline |
Constructor that allocates memory for the state. This constructor automatically allocates memory for state, cost, and incCost.
Definition at line 331 of file RRTXstatic.h.
Member Data Documentation
◆ children
std::vector<Motion *> ompl::geometric::RRTXstatic::Motion::children |
The set of motions descending from the current motion.
Definition at line 347 of file RRTXstatic.h.
◆ cost
base::Cost ompl::geometric::RRTXstatic::Motion::cost |
The cost up to this motion.
Definition at line 344 of file RRTXstatic.h.
◆ handle
BinaryHeap<Motion*,MotionCompare>::Element* ompl::geometric::RRTXstatic::Motion::handle |
Handle to identify the motion in the queue.
Definition at line 354 of file RRTXstatic.h.
◆ nbh
std::vector<std::pair<Motion *, bool> > ompl::geometric::RRTXstatic::Motion::nbh |
The set of neighbors of this motion with a boolean indicating if the feasibility of edge as been tested.
Definition at line 351 of file RRTXstatic.h.
◆ parent
Motion* ompl::geometric::RRTXstatic::Motion::parent |
The parent motion in the exploration tree.
Definition at line 341 of file RRTXstatic.h.
◆ state
base::State* ompl::geometric::RRTXstatic::Motion::state |
The state contained by the motion.
Definition at line 338 of file RRTXstatic.h.
The documentation for this class was generated from the following file:
- ompl/geometric/planners/rrt/RRTXstatic.h