Class BiTRRT::Motion

Nested Relationships

This class is a nested type of Class BiTRRT.

Class Documentation

class Motion

Representation of a motion in the search tree.

Public Functions

Motion() = default

Default constructor.

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.

base::Cost cost

Cost of the state.

const base::State *root = {nullptr}

Pointer to the root of the tree this motion is contained in.