ompl::geometric::LBTRRT::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/rrt/LBTRRT.h>

Public Member Functions

 Motion (const base::SpaceInformationPtr &si)
 Constructor that allocates memory for the state. More...
 

Public Attributes

base::Statestate_ {nullptr}
 The state contained by the motion. More...
 
std::size_t id_
 unique id of the motion More...
 
double costLb_
 The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redundant, the cost in lowerBoundGraph_ may change causing ordering according to it inconsistencies. More...
 
MotionparentApx_ {nullptr}
 The parent motion in the approximation tree. More...
 
double costApx_ {0.0}
 The approximation cost. More...
 
std::vector< Motion * > childrenApx_
 The children in the approximation tree. More...
 

Detailed Description

Representation of a motion.

a motion is a simultunaeous represntation of the two trees used by LBT-RRT a lower bound tree named Tlb and an approximaion tree named Tapx.

Definition at line 159 of file LBTRRT.h.

Constructor & Destructor Documentation

◆ Motion()

ompl::geometric::LBTRRT::Motion::Motion ( const base::SpaceInformationPtr &  si)
inline

Constructor that allocates memory for the state.

Definition at line 165 of file LBTRRT.h.

Member Data Documentation

◆ childrenApx_

std::vector<Motion *> ompl::geometric::LBTRRT::Motion::childrenApx_

The children in the approximation tree.

Definition at line 187 of file LBTRRT.h.

◆ costApx_

double ompl::geometric::LBTRRT::Motion::costApx_ {0.0}

The approximation cost.

Definition at line 185 of file LBTRRT.h.

◆ costLb_

double ompl::geometric::LBTRRT::Motion::costLb_

The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redundant, the cost in lowerBoundGraph_ may change causing ordering according to it inconsistencies.

Definition at line 181 of file LBTRRT.h.

◆ id_

std::size_t ompl::geometric::LBTRRT::Motion::id_

unique id of the motion

Definition at line 175 of file LBTRRT.h.

◆ parentApx_

Motion* ompl::geometric::LBTRRT::Motion::parentApx_ {nullptr}

The parent motion in the approximation tree.

Definition at line 183 of file LBTRRT.h.

◆ state_

base::State* ompl::geometric::LBTRRT::Motion::state_ {nullptr}

The state contained by the motion.

Definition at line 173 of file LBTRRT.h.


The documentation for this class was generated from the following file: