Representation of a motion.
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#include <ompl/geometric/planners/rrt/LBTRRT.h>
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| Motion (const base::SpaceInformationPtr &si) |
| Constructor that allocates memory for the state.
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base::State * | state_ {nullptr} |
| The state contained by the motion.
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std::size_t | id_ |
| unique id of the motion
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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.
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Motion * | parentApx_ {nullptr} |
| The parent motion in the approximation tree.
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double | costApx_ {0.0} |
| The approximation cost.
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std::vector< Motion * > | childrenApx_ |
| The children in the approximation tree.
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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.
◆ Motion()
ompl::geometric::LBTRRT::Motion::Motion |
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const base::SpaceInformationPtr & | si | ) |
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inline |
Constructor that allocates memory for the state.
Definition at line 165 of file LBTRRT.h.
◆ 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: