Representation of a motion. More...
#include <LBTRRT.h>
Public Member Functions | |
| Motion (const base::SpaceInformationPtr &si) | |
| Constructor that allocates memory for the state. | |
Public Attributes | |
| base::State * | state |
| The state contained by the motion. | |
| Motion * | parentLb_ |
| The parent motion in the exploration tree. | |
| Motion * | parentApx_ |
| The parent motion in the exploration tree. | |
| double | costLb_ |
| double | costApx_ |
| std::vector< Motion * > | childrenLb_ |
| std::vector< Motion * > | childrenApx_ |
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.
