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ompl::control::RRT::Motion Class Reference

Representation of a motion. More...

#include <ompl/control/planners/rrt/RRT.h>

Public Member Functions

 Motion (const SpaceInformation *si)
 Constructor that allocates memory for the state and the control.
 

Public Attributes

base::Statestate {nullptr}
 The state contained by the motion.
 
Controlcontrol {nullptr}
 The control contained by the motion.
 
unsigned int steps {0}
 The number of steps the control is applied for.
 
Motionparent {nullptr}
 The parent motion in the exploration tree.
 

Detailed Description

Representation of a motion.

This only contains pointers to parent motions as we only need to go backwards in the tree.

Definition at line 133 of file RRT.h.

Constructor & Destructor Documentation

◆ Motion()

ompl::control::RRT::Motion::Motion ( const SpaceInformation * si)
inline

Constructor that allocates memory for the state and the control.

Definition at line 139 of file RRT.h.

Member Data Documentation

◆ control

Control* ompl::control::RRT::Motion::control {nullptr}

The control contained by the motion.

Definition at line 150 of file RRT.h.

◆ parent

Motion* ompl::control::RRT::Motion::parent {nullptr}

The parent motion in the exploration tree.

Definition at line 156 of file RRT.h.

◆ state

base::State* ompl::control::RRT::Motion::state {nullptr}

The state contained by the motion.

Definition at line 147 of file RRT.h.

◆ steps

unsigned int ompl::control::RRT::Motion::steps {0}

The number of steps the control is applied for.

Definition at line 153 of file RRT.h.


The documentation for this class was generated from the following file:
  • ompl/control/planners/rrt/RRT.h