Class representing the tree of motions exploring the state space.
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#include <ompl/control/planners/pdst/PDST.h>
Class representing the tree of motions exploring the state space.
Definition at line 145 of file PDST.h.
◆ Motion() [1/2]
◆ Motion() [2/2]
ompl::control::PDST::Motion::Motion |
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base::State * | state | ) |
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inline |
constructor for start states
Definition at line 162 of file PDST.h.
◆ score()
double ompl::control::PDST::Motion::score |
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const |
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inline |
The score is used to order motions in a priority queue.
Definition at line 175 of file PDST.h.
◆ updatePriority()
void ompl::control::PDST::Motion::updatePriority |
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inline |
◆ cell_
Cell* ompl::control::PDST::Motion::cell_ |
Pointer to the cell that contains this path.
Definition at line 197 of file PDST.h.
◆ control_
The control that was applied to arrive at this state from the parent.
Definition at line 189 of file PDST.h.
◆ controlDuration_
unsigned int ompl::control::PDST::Motion::controlDuration_ |
The duration that the control was applied to arrive at this state from the parent.
Definition at line 191 of file PDST.h.
◆ endState_
The state reached by this motion.
Definition at line 187 of file PDST.h.
◆ heapElement_
Handle to the element of the priority queue for this Motion.
Definition at line 199 of file PDST.h.
◆ isSplit_
bool ompl::control::PDST::Motion::isSplit_ |
Whether this motion is the result of a split operation, in which case its endState_ and control_ should not be freed.
Definition at line 202 of file PDST.h.
◆ parent_
Motion* ompl::control::PDST::Motion::parent_ |
Parent motion from which this one started.
Definition at line 195 of file PDST.h.
◆ priority_
double ompl::control::PDST::Motion::priority_ |
Priority for selecting this path to extend from in the future.
Definition at line 193 of file PDST.h.
◆ startState_
The starting point of this motion.
Definition at line 185 of file PDST.h.
The documentation for this struct was generated from the following file:
- ompl/control/planners/pdst/PDST.h