Class BiRLRT::Motion

Nested Relationships

This class is a nested type of Class BiRLRT.

Class Documentation

class Motion

A motion (tree node) with parent pointer.

Public Functions

inline Motion(const base::SpaceInformationPtr &si)

Constructor that allocates memory for the state.

~Motion() = default

Public Members

base::State *state = {nullptr}

The state contained by the motion.

Motion *parent = {nullptr}

The parent motion in the exploration tree.

const base::State *root = {nullptr}

Pointer to the root of the tree this motion is connected to.