Class LBTRRT::Motion

Nested Relationships

This class is a nested type of Class LBTRRT.

Class Documentation

class Motion

Representation of a motion.

a motion is a simultunaeous represntation of the two trees used by LBT-RRT a lower bound tree named Tlb and an approximaion tree named Tapx.

Public Functions

Motion() = default
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.

std::size_t id_

unique id of the motion

double costLb_

The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redundant, the cost in lowerBoundGraph_ may change causing ordering according to it inconsistencies.

Motion *parentApx_ = {nullptr}

The parent motion in the approximation tree.

double costApx_ = {0.0}

The approximation cost.

std::vector<Motion*> childrenApx_

The children in the approximation tree.