Class SST::Motion

Defined in File SST.h

Nested Relationships

This class is a nested type of Class SST.

Inheritance Relationships

Derived Type

public ompl::control::SST::Witness (Class SST::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::SST::Witness

Public Functions

Motion() = default

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

virtual ~Motion() = default

inline virtual base::State *getState() const

inline virtual Motion *getParent() const

Public Members

base::Cost accCost_ = {0}

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

Control *control_ = {nullptr}: The control contained by the motion.

unsigned int steps_ = {0}: The number of steps_ the control is applied for.

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

unsigned numChildren_ = {0}: Number of children.

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