ompl::geometric::FMT::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/fmt/FMT.h>

List of all members.

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::StategetState () const
 Get the state associated with the motion.
void setParent (Motion *parent)
 Set the parent motion of the current motion.
MotiongetParent () 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::Statestate_
 The state contained by the motion.
Motionparent_
 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

Representation of a motion.

Definition at line 153 of file FMT.h.


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