ompl::geometric::TRRT::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/rrt/TRRT.h>

Public Member Functions

 Motion (const base::SpaceInformationPtr &si)
 Constructor that allocates memory for the state. More...
 

Public Attributes

base::Statestate {nullptr}
 The state contained by the motion. More...
 
Motionparent {nullptr}
 The parent motion in the exploration tree. More...
 
base::Cost cost
 Cost of the state. More...
 

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 225 of file TRRT.h.

Constructor & Destructor Documentation

◆ Motion()

ompl::geometric::TRRT::Motion::Motion ( const base::SpaceInformationPtr &  si)
inline

Constructor that allocates memory for the state.

Definition at line 231 of file TRRT.h.

Member Data Documentation

◆ cost

base::Cost ompl::geometric::TRRT::Motion::cost

Cost of the state.

Definition at line 244 of file TRRT.h.

◆ parent

Motion* ompl::geometric::TRRT::Motion::parent {nullptr}

The parent motion in the exploration tree.

Definition at line 241 of file TRRT.h.

◆ state

base::State* ompl::geometric::TRRT::Motion::state {nullptr}

The state contained by the motion.

Definition at line 238 of file TRRT.h.


The documentation for this class was generated from the following file:
  • ompl/geometric/planners/rrt/TRRT.h