Representation of a motion for this algorithm. More...
#include <KPIECE1.h>
Public Member Functions | |
Motion (const SpaceInformation *si) | |
Constructor that allocates memory for the state and the control. | |
Public Attributes | |
base::State * | state |
The state contained by this motion. | |
Control * | control |
The control contained by this motion. | |
unsigned int | steps |
The number of steps the control is applied for. | |
Motion * | parent |
The parent motion in the exploration tree. |