Class HySST::Motion

Defined in File HySST.h

Nested Relationships

This class is a nested type of Class HySST.

Inheritance Relationships

Derived Type

public ompl::control::HySST::Witness (Class HySST::Witness)

Class Documentation

class Motion

Representation of a motion.

This only contains pointers to parent motions as we: only need to go backwards in the tree.

Subclassed by ompl::control::HySST::Witness

Public Functions

Motion() = default: Default constructor.

inline Motion(const control::SpaceInformation *si): Constructor that allocates memory for the state.

virtual ~Motion() = default: Destructor.

inline virtual base::State *getState() const: Get the state contained by the motion.

inline virtual Motion *getParent() const: Get the parent motion in the tree.

Public Members

base::Cost accCost_ = {0.}: The total cost accumulated from the root to this vertex.

base::State *state = {nullptr}: The state contained by the motion.

Motion *parent = {nullptr}: The parent motion in the exploration tree.

unsigned numChildren_ = {0}: Number of children. Starting with 0.

bool inactive_ = {false}: If inactive, this node is not considered for selection.

std::vector<base::State*> *solutionPair = {nullptr}: The integration steps defining the edge of the motion, between the parent and child vertices.

control::Control *control = {nullptr}: The inputs associated with the solution pair.