Struct LTLPlanner::Motion

Nested Relationships

This struct is a nested type of Class LTLPlanner.

Struct Documentation

struct Motion

Representation of a motion.

A motion contains pointers to its state, its parent motion, and the control that was applied to get from its parent to its state.

Public Functions

Motion() = default

Default constructor for Motion.

Motion(const SpaceInformation *si)

Constructor that allocates memory for the state and the control, given a space.

virtual ~Motion()

Motion destructor does not clear memory. Deletions should be performed by the LTLPlanner.

Public Members

base::State *state = {nullptr}

The state contained by the motion.

Control *control = {nullptr}

The control contained by the motion.

Motion *parent = {nullptr}

The parent motion in the tree.

unsigned int steps = {0}

The number of steps for which the control is applied.

ProductGraph::State *abstractState = {nullptr}

The high-level state to which this motion belongs.