Class ATRRT::Motion

Nested Relationships

This class is a nested type of Class ATRRT.

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.

std::vector<Motion*> neighbors

The connected motions in the exploration graph.

base::Cost cost

Cost of the state.