aikido::planner::ompl::CRRT::Motion Class Reference

Representation of a node in the tree. More...

#include <aikido/planner/ompl/CRRT.hpp>

Public Member Functions
	Motion ()
	Constructor. Sets state and parent to null ptr. More...
	Motion (const ::ompl::base::SpaceInformationPtr &_si)
	Constructor that allocates memory for the state. More...
	~Motion ()
	Destructor. More...

Public Attributes
::ompl::base::State *	state
	The state contained in this node. More...
Motion *	parent
	The parent of this node. More...

Detailed Description

Representation of a node in the tree.

Contains the state at the node and a pointer to the parent node.

Constructor & Destructor Documentation

Motion() [1/2]

aikido::planner::ompl::CRRT::Motion::Motion ( )

inline

Constructor. Sets state and parent to null ptr.

Motion() [2/2]

aikido::planner::ompl::CRRT::Motion::Motion ( const ::ompl::base::SpaceInformationPtr &  _si )

inlineexplicit

Constructor that allocates memory for the state.

~Motion()

aikido::planner::ompl::CRRT::Motion::~Motion ( )

inline

Destructor.

Member Data Documentation

parent

Motion* aikido::planner::ompl::CRRT::Motion::parent

The parent of this node.

state

::ompl::base::State* aikido::planner::ompl::CRRT::Motion::state

The state contained in this node.