Class RRTstar::Motion

Nested Relationships

This class is a nested type of Class RRTstar.

Class Documentation

class Motion

Representation of a motion.

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.

bool inGoal

Set to true if this vertex is in the goal region.

base::Cost cost

The cost up to this motion.

base::Cost incCost

The incremental cost of this motion’s parent to this motion (this is stored to save distance computations in the updateChildCosts() method)

std::vector<Motion*> children

The set of motions descending from the current motion.