ompl::geometric::FMT::Motion Class Reference
Representation of a motion. More...
#include <ompl/geometric/planners/fmt/FMT.h>
Public Types | |
enum | SetType { SET_NULL, SET_H, SET_W } |
The FMT* planner begins with all nodes included in set W "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set H "Horizon of explored tree." Once a node in H is no longer close enough to the frontier to connect to any more nodes in W, it is removed from H. These three SetTypes are flags indicating which set the node belongs to; H, W, or neither. | |
Public Member Functions | |
Motion (const base::SpaceInformationPtr &si) | |
Constructor that allocates memory for the state. | |
void | setState (base::State *state) |
Set the state associated with the motion. | |
base::State * | getState () const |
Get the state associated with the motion. | |
void | setParent (Motion *parent) |
Set the parent motion of the current motion. | |
Motion * | getParent () const |
Get the parent motion of the current motion. | |
void | setCost (const base::Cost cost) |
Set the cost-to-come for the current motion. | |
base::Cost | getCost () const |
Get the cost-to-come for the current motion. | |
void | setSetType (const SetType currentSet) |
Specify the set that this motion belongs to. | |
SetType | getSetType () const |
Get the set that this motion belongs to. | |
Protected Attributes | |
base::State * | state_ |
The state contained by the motion. | |
Motion * | parent_ |
The parent motion in the exploration tree. | |
base::Cost | cost_ |
The cost of this motion. | |
SetType | currentSet_ |
The flag indicating which set a motion belongs to. |
Detailed Description
The documentation for this class was generated from the following file:
- ompl/geometric/planners/fmt/FMT.h