Representation of a motion.
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#include <ompl/geometric/planners/rrt/RRTstar.h>
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| Motion (const base::SpaceInformationPtr &si) |
| Constructor that allocates memory for the state. This constructor automatically allocates memory for state, cost, and incCost.
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Representation of a motion.
Definition at line 333 of file RRTstar.h.
◆ Motion()
ompl::geometric::RRTstar::Motion::Motion |
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const base::SpaceInformationPtr & |
si | ) |
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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.
◆ 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
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
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: