Class SST::Motion

Nested Relationships

This class is a nested type of Class SST.

Inheritance Relationships

Derived Type

Class Documentation

class Motion

Representation of a motion.

This only contains pointers to parent motions as we only need to go backwards in the tree.

Subclassed by ompl::geometric::SST::Witness

Public Functions

Motion() = default
inline Motion(const base::SpaceInformationPtr &si)

Constructor that allocates memory for the state and the control.

virtual ~Motion() = default
inline virtual base::State *getState() const
inline virtual Motion *getParent() const

Public Members

base::Cost accCost_ = {0.}
base::State *state_ = {nullptr}

The state contained by the motion.

Motion *parent_ = {nullptr}

The parent motion in the exploration tree.

unsigned numChildren_ = {0}

Number of children.

bool inactive_ = {false}

If inactive, this node is not considered for selection.