Representation of a motion.
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#include <ompl/geometric/planners/fmt/FMT.h>
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enum | SetType { SET_CLOSED
, SET_OPEN
, SET_UNVISITED
} |
| The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither) More...
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Representation of a motion.
Definition at line 214 of file FMT.h.
◆ SetType
The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither)
Definition at line 224 of file FMT.h.
◆ Motion()
ompl::geometric::FMT::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 234 of file FMT.h.
◆ addCC()
void ompl::geometric::FMT::Motion::addCC |
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Motion * | m | ) |
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inline |
Caches a failed collision check to m.
Definition at line 297 of file FMT.h.
◆ alreadyCC()
bool ompl::geometric::FMT::Motion::alreadyCC |
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Motion * | m | ) |
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inline |
Returns true if the connection to m has been already tested and failed because of a collision.
Definition at line 291 of file FMT.h.
◆ getChildren()
std::vector< Motion * > & ompl::geometric::FMT::Motion::getChildren |
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inline |
Get the children of the motion.
Definition at line 315 of file FMT.h.
◆ getCost()
base::Cost ompl::geometric::FMT::Motion::getCost |
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const |
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inline |
Get the cost-to-come for the current motion.
Definition at line 272 of file FMT.h.
◆ getHeuristicCost()
base::Cost ompl::geometric::FMT::Motion::getHeuristicCost |
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const |
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inline |
Get the cost to go heuristic cost.
Definition at line 309 of file FMT.h.
◆ getParent()
Motion * ompl::geometric::FMT::Motion::getParent |
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const |
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inline |
Get the parent motion of the current motion.
Definition at line 260 of file FMT.h.
◆ getSetType()
SetType ompl::geometric::FMT::Motion::getSetType |
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const |
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inline |
Get the set that this motion belongs to.
Definition at line 284 of file FMT.h.
◆ getState()
base::State * ompl::geometric::FMT::Motion::getState |
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const |
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inline |
Get the state associated with the motion.
Definition at line 248 of file FMT.h.
◆ setCost()
void ompl::geometric::FMT::Motion::setCost |
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const base::Cost | cost | ) |
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inline |
Set the cost-to-come for the current motion.
Definition at line 266 of file FMT.h.
◆ setHeuristicCost()
void ompl::geometric::FMT::Motion::setHeuristicCost |
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const base::Cost | h | ) |
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inline |
Set the cost to go heuristic cost.
Definition at line 303 of file FMT.h.
◆ setParent()
void ompl::geometric::FMT::Motion::setParent |
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Motion * | parent | ) |
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inline |
Set the parent motion of the current motion.
Definition at line 254 of file FMT.h.
◆ setSetType()
void ompl::geometric::FMT::Motion::setSetType |
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const SetType | currentSet | ) |
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inline |
Specify the set that this motion belongs to.
Definition at line 278 of file FMT.h.
◆ setState()
void ompl::geometric::FMT::Motion::setState |
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base::State * | state | ) |
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inline |
Set the state associated with the motion.
Definition at line 242 of file FMT.h.
◆ children_
std::vector<Motion *> ompl::geometric::FMT::Motion::children_ |
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protected |
The set of motions descending from the current motion.
Definition at line 340 of file FMT.h.
◆ collChecksDone_
std::set<Motion *> ompl::geometric::FMT::Motion::collChecksDone_ |
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protected |
Contains the connections attempted FROM this node.
Definition at line 337 of file FMT.h.
◆ cost_
base::Cost ompl::geometric::FMT::Motion::cost_ {0.} |
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protected |
The cost of this motion.
Definition at line 328 of file FMT.h.
◆ currentSet_
SetType ompl::geometric::FMT::Motion::currentSet_ {SET_UNVISITED} |
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protected |
The flag indicating which set a motion belongs to.
Definition at line 334 of file FMT.h.
◆ hcost_
base::Cost ompl::geometric::FMT::Motion::hcost_ {0.} |
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protected |
The minimum cost to go of this motion (heuristically computed)
Definition at line 331 of file FMT.h.
◆ parent_
Motion* ompl::geometric::FMT::Motion::parent_ {nullptr} |
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protected |
The parent motion in the exploration tree.
Definition at line 325 of file FMT.h.
◆ state_
base::State* ompl::geometric::FMT::Motion::state_ {nullptr} |
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protected |
The state contained by the motion.
Definition at line 322 of file FMT.h.
The documentation for this class was generated from the following file:
- ompl/geometric/planners/fmt/FMT.h