Class representing the tree of motions exploring the state space. More...
#include <PDST.h>
Public Member Functions | |
Motion (base::State *startState, base::State *endState, double priority, Motion *parent) | |
Motion (base::State *state) | |
constructor for start states | |
double | score (void) const |
The score is used to order motions in a priority queue. | |
void | updatePriority (void) |
Motion * | ancestor () const |
Public Attributes | |
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_ |
Class representing the tree of motions exploring the state space.
bool ompl::geometric::PDST::Motion::isSplit_ |