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ompl::geometric::PDST::Motion Struct Reference

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

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

Public Member Functions

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

Public Attributes

ompl::base::StatestartState_
 The starting point of this motion. More...
 
ompl::base::StateendState_
 The state reached by this motion. More...
 
double priority_
 Priority for selecting this path to extend from in the future. More...
 
Motionparent_
 Parent motion from which this one started. More...
 
Cellcell_
 pointer to the cell that contains this path More...
 
ompl::BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
 Handle to the element of the priority queue for this Motion. More...
 
bool isSplit_
 

Detailed Description

Class representing the tree of motions exploring the state space.

Definition at line 142 of file PDST.h.

Constructor & Destructor Documentation

◆ Motion() [1/2]

ompl::geometric::PDST::Motion::Motion ( base::State startState,
base::State endState,
double  priority,
Motion parent 
)
inline

Definition at line 145 of file PDST.h.

◆ Motion() [2/2]

ompl::geometric::PDST::Motion::Motion ( base::State state)
inline

constructor for start states

Definition at line 156 of file PDST.h.

Member Function Documentation

◆ ancestor()

Motion * ompl::geometric::PDST::Motion::ancestor ( ) const
inline

Definition at line 175 of file PDST.h.

◆ score()

double ompl::geometric::PDST::Motion::score ( ) const
inline

The score is used to order motions in a priority queue.

Definition at line 167 of file PDST.h.

◆ updatePriority()

void ompl::geometric::PDST::Motion::updatePriority ( )
inline

Definition at line 171 of file PDST.h.

Member Data Documentation

◆ cell_

Cell* ompl::geometric::PDST::Motion::cell_

pointer to the cell that contains this path

Definition at line 192 of file PDST.h.

◆ endState_

ompl::base::State* ompl::geometric::PDST::Motion::endState_

The state reached by this motion.

Definition at line 186 of file PDST.h.

◆ heapElement_

ompl::BinaryHeap<Motion*,MotionCompare>::Element* ompl::geometric::PDST::Motion::heapElement_

Handle to the element of the priority queue for this Motion.

Definition at line 194 of file PDST.h.

◆ isSplit_

bool ompl::geometric::PDST::Motion::isSplit_

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

Definition at line 197 of file PDST.h.

◆ parent_

Motion* ompl::geometric::PDST::Motion::parent_

Parent motion from which this one started.

Definition at line 190 of file PDST.h.

◆ priority_

double ompl::geometric::PDST::Motion::priority_

Priority for selecting this path to extend from in the future.

Definition at line 188 of file PDST.h.

◆ startState_

ompl::base::State* ompl::geometric::PDST::Motion::startState_

The starting point of this motion.

Definition at line 184 of file PDST.h.


The documentation for this struct was generated from the following file:
  • ompl/geometric/planners/pdst/PDST.h