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ompl::control::SST::Motion Class Reference

Representation of a motion. More...

#include <ompl/control/planners/sst/SST.h>

Inheritance diagram for ompl::control::SST::Motion:

Public Member Functions

 Motion (const SpaceInformation *si)
 Constructor that allocates memory for the state and the control.
 
virtual base::StategetState () const
 
virtual MotiongetParent () const
 

Public Attributes

base::Cost accCost_ {0}
 
base::Statestate_ {nullptr}
 The state contained by the motion.
 
Controlcontrol_ {nullptr}
 The control contained by the motion.
 
unsigned int steps_ {0}
 The number of steps_ the control is applied for.
 
Motionparent_ {nullptr}
 The parent motion in the exploration tree.
 
unsigned numChildren_ {0}
 Number of children.
 
bool inactive_ {false}
 If inactive, this node is not considered for selection.
 

Detailed Description

Representation of a motion.

This only contains pointers to parent motions as we only need to go backwards in the tree.

Definition at line 154 of file SST.h.

Constructor & Destructor Documentation

◆ Motion()

ompl::control::SST::Motion::Motion ( const SpaceInformation * si)
inline

Constructor that allocates memory for the state and the control.

Definition at line 160 of file SST.h.

Member Function Documentation

◆ getParent()

virtual Motion * ompl::control::SST::Motion::getParent ( ) const
inlinevirtual

Definition at line 171 of file SST.h.

◆ getState()

virtual base::State * ompl::control::SST::Motion::getState ( ) const
inlinevirtual

Definition at line 167 of file SST.h.

Member Data Documentation

◆ accCost_

base::Cost ompl::control::SST::Motion::accCost_ {0}

Definition at line 176 of file SST.h.

◆ control_

Control* ompl::control::SST::Motion::control_ {nullptr}

The control contained by the motion.

Definition at line 182 of file SST.h.

◆ inactive_

bool ompl::control::SST::Motion::inactive_ {false}

If inactive, this node is not considered for selection.

Definition at line 194 of file SST.h.

◆ numChildren_

unsigned ompl::control::SST::Motion::numChildren_ {0}

Number of children.

Definition at line 191 of file SST.h.

◆ parent_

Motion* ompl::control::SST::Motion::parent_ {nullptr}

The parent motion in the exploration tree.

Definition at line 188 of file SST.h.

◆ state_

base::State* ompl::control::SST::Motion::state_ {nullptr}

The state contained by the motion.

Definition at line 179 of file SST.h.

◆ steps_

unsigned int ompl::control::SST::Motion::steps_ {0}

The number of steps_ the control is applied for.

Definition at line 185 of file SST.h.


The documentation for this class was generated from the following file:
  • ompl/control/planners/sst/SST.h