ompl::geometric::LBTRRT::Motion Class Reference
Representation of a motion. More...
#include <ompl/geometric/planners/rrt/LBTRRT.h>
Public Member Functions | |
Motion (const base::SpaceInformationPtr &si) | |
Constructor that allocates memory for the state. | |
Public Attributes | |
base::State * | state |
The state contained by the motion. | |
Motion * | parentLb_ |
The parent motion in the exploration tree. | |
Motion * | parentApx_ |
The parent motion in the exploration tree. | |
base::Cost | costLb_ |
Cost lower bound on path from start to state. | |
base::Cost | costApx_ |
Approximate cost on path from start to state. | |
base::Cost | incCost_ |
The incremental lower bound cost of this motion's parent to this motion (this is stored to save distance computations in the updateChildCosts() method) | |
std::vector< Motion * > | childrenLb_ |
std::vector< Motion * > | childrenApx_ |
Detailed Description
Representation of a motion.
a motion is a simultunaeous represntation of the two trees used by LBT-RRT a lower bound tree named Tlb and an approximaion tree named Tapx.
The documentation for this class was generated from the following file:
- ompl/geometric/planners/rrt/LBTRRT.h