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ompl::geometric::RRTXstatic::Motion Class Reference

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. More...
 

Public Attributes

base::Statestate
 The state contained by the motion. More...
 
Motionparent
 The parent motion in the exploration tree. More...
 
base::Cost cost
 The cost up to this motion. More...
 
std::vector< Motion * > children
 The set of motions descending from the current motion. More...
 
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. More...
 
BinaryHeap< Motion *, MotionCompare >::Element * handle
 Handle to identify the motion in the queue. More...
 

Detailed Description

Representation of a motion (node of the tree)

Definition at line 326 of file RRTXstatic.h.

Constructor & Destructor Documentation

◆ Motion()

ompl::geometric::RRTXstatic::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 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: