ompl::geometric::LBTRRT::Motion Class Reference

Representation of a motion. More...

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

List of all members.

Public Member Functions

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

Public Attributes

base::Statestate
 The state contained by the motion.
MotionparentLb_
 The parent motion in the exploration tree.
MotionparentApx_
 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.

Definition at line 160 of file LBTRRT.h.


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