Class RRTXstatic::Motion

Nested Relationships

This class is a nested type of Class RRTXstatic.

Class Documentation

class Motion

Representation of a motion (node of the tree)

Public Functions

inline Motion(const base::SpaceInformationPtr &si)

Constructor that allocates memory for the state. This constructor automatically allocates memory for state, cost, and incCost.

~Motion() = default

Public Members

base::State *state

The state contained by the motion.

Motion *parent

The parent motion in the exploration tree.

base::Cost cost

The cost up to this motion.

std::vector<Motion*> children

The set of motions descending from the current motion.

std::vector<std::pair<Motion*, bool>> nbh

The set of neighbors of this motion with a boolean indicating if the feasibility of edge as been tested.

BinaryHeap<Motion*, MotionCompare>::Element *handle

Handle to identify the motion in the queue.