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ompl::control::PDST::Motion Struct Reference

Class representing the tree of motions exploring the state space. More...

#include <ompl/control/planners/pdst/PDST.h>

Public Member Functions

 Motion (base::State *startState, base::State *endState, Control *control, unsigned int controlDuration, double priority, Motion *parent)
 Motion (base::State *state)
 constructor for start states
double score () const
 The score is used to order motions in a priority queue.
void updatePriority ()

Public Attributes

base::StatestartState_
 The starting point of this motion.
base::StateendState_
 The state reached by this motion.
control::Controlcontrol_
 The control that was applied to arrive at this state from the parent.
unsigned int controlDuration_
 The duration that the control was applied to arrive at this state from the parent.
double priority_
 Priority for selecting this path to extend from in the future.
Motionparent_
 Parent motion from which this one started.
Cellcell_
 Pointer to the cell that contains this path.
BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
 Handle to the element of the priority queue for this Motion.
bool isSplit_

Detailed Description

Class representing the tree of motions exploring the state space.

Definition at line 145 of file PDST.h.

Constructor & Destructor Documentation

◆ Motion() [1/2]

ompl::control::PDST::Motion::Motion ( base::State * startState,
base::State * endState,
Control * control,
unsigned int controlDuration,
double priority,
Motion * parent )
inline

Definition at line 148 of file PDST.h.

◆ Motion() [2/2]

ompl::control::PDST::Motion::Motion ( base::State * state)
inline

constructor for start states

Definition at line 162 of file PDST.h.

Member Function Documentation

◆ score()

double ompl::control::PDST::Motion::score ( ) const
inline

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

Definition at line 175 of file PDST.h.

◆ updatePriority()

void ompl::control::PDST::Motion::updatePriority ( )
inline

Definition at line 179 of file PDST.h.

Member Data Documentation

◆ cell_

Cell* ompl::control::PDST::Motion::cell_

Pointer to the cell that contains this path.

Definition at line 197 of file PDST.h.

◆ control_

control::Control* ompl::control::PDST::Motion::control_

The control that was applied to arrive at this state from the parent.

Definition at line 189 of file PDST.h.

◆ controlDuration_

unsigned int ompl::control::PDST::Motion::controlDuration_

The duration that the control was applied to arrive at this state from the parent.

Definition at line 191 of file PDST.h.

◆ endState_

base::State* ompl::control::PDST::Motion::endState_

The state reached by this motion.

Definition at line 187 of file PDST.h.

◆ heapElement_

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

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

Definition at line 199 of file PDST.h.

◆ isSplit_

bool ompl::control::PDST::Motion::isSplit_

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

Definition at line 202 of file PDST.h.

◆ parent_

Motion* ompl::control::PDST::Motion::parent_

Parent motion from which this one started.

Definition at line 195 of file PDST.h.

◆ priority_

double ompl::control::PDST::Motion::priority_

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

Definition at line 193 of file PDST.h.

◆ startState_

base::State* ompl::control::PDST::Motion::startState_

The starting point of this motion.

Definition at line 185 of file PDST.h.


The documentation for this struct was generated from the following file:
  • ompl/control/planners/pdst/PDST.h