Representation of a motion. More...
#include <RRT.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 * | parent |
The parent motion in the exploration tree. |
Representation of a motion.
This only contains pointers to parent motions as we only need to go backwards in the tree.