ompl::control::PDST::Motion Struct Reference

Class representing the tree of motions exploring the state space. More...

#include <ompl/control/planners/pdst/PDST.h>

List of all members.

Public Member Functions

 Motion (base::State *startState, base::State *endState, Control *control, unsigned int controlDuration, double priority, Motion *parent)
 Motion (base::State *state)
 constructor for start states
double score () const
 The score is used to order motions in a priority queue.
void updatePriority ()

Public Attributes

base::StatestartState_
 The starting point of this motion.
base::StateendState_
 The state reached by this motion.
control::Controlcontrol_
 The control that was applied to arrive at this state from the parent.
unsigned int controlDuration_
 The duration that the control was applied to arrive at this state from the parent.
double priority_
 Priority for selecting this path to extend from in the future.
Motionparent_
 Parent motion from which this one started.
Cellcell_
 Pointer to the cell that contains this path.
BinaryHeap< Motion
*, MotionCompare >::Element * 
heapElement_
 Handle to the element of the priority queue for this Motion.
bool isSplit_

Detailed Description

Class representing the tree of motions exploring the state space.

Definition at line 148 of file PDST.h.


Member Data Documentation

Whether this motion is the result of a split operation, in which case its endState_ and control_ should not be freed.

Definition at line 192 of file PDST.h.


The documentation for this struct was generated from the following file:
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