Class HySST::Witness

• Defined in File HySST.h

Nested Relationships

This class is a nested type of Class HySST.

Inheritance Relationships

Base Type

• public ompl::control::HySST::Motion (Class HySST::Motion)

Class Documentation

class Witness : public ompl::control::HySST::Motion

Representation of a witness vertex in the search tree.

Public Functions

Witness() = default

Default Constructor.

inline Witness(const control::SpaceInformation *si)

Constructor that allocates memory for the state.

inline virtual base::State *getState() const override

Get the state contained by the representative motion.

Returns:

The state contained by the representative motion

inline virtual Motion *getParent() const override

Get the state contained by the parent motion of the representative motion.

Returns:

The state contained by the parent motion of the representative motion

inline void linkRep(Motion *lRep)

Set the representative of the witness.

Parameters:

lRep – The representative motion

Public Members

Motion *rep_ = {nullptr}

The node in the tree that is within the pruning radius.