Struct PDST::Motion

Nested Relationships

This struct is a nested type of Class PDST.

Struct Documentation

struct Motion

Class representing the tree of motions exploring the state space.

Public Functions

inline Motion(base::State *startState, base::State *endState, double priority, Motion *parent)
inline Motion(base::State *state)

constructor for start states

inline double score() const

The score is used to order motions in a priority queue.

inline void updatePriority()
inline Motion *ancestor() const

Public Members

ompl::base::State *startState_

The starting point of this motion.

ompl::base::State *endState_

The state reached by this motion.

double priority_

Priority for selecting this path to extend from in the future.

Motion *parent_

Parent motion from which this one started.

Cell *cell_

pointer to the cell that contains this path

ompl::BinaryHeap<Motion*, MotionCompare>::Element *heapElement_

Handle to the element of the priority queue for this Motion.

bool isSplit_

Whether this motion is the result of a split operation, in which case its endState_ should not be freed.