Class TRRT::Motion

Defined in File TRRT.h

Nested Relationships

This class is a nested type of Class TRRT.

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.

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.

Motion *parent = {nullptr}: The parent motion in the exploration tree.

base::Cost cost: Cost of the state.