Representation of a milestone. More...
#include <BasicPRM.h>
Public Member Functions | |
Milestone (const base::SpaceInformationPtr &si) | |
Automatically allocate memory for a milestone's state. | |
Public Attributes | |
base::State * | state |
The state corresponding to the milestone. | |
unsigned int | index |
The index of this milestone in the array of milestones (BasicPRM::milestones_) | |
unsigned long | component |
The id of the connected component this milestone is part of. | |
std::vector< Milestone * > | adjacent |
The array of milestones that can be connected to with valid paths. | |
std::vector< double > | costs |
The cost of the edges indicated by adjacent. |
Representation of a milestone.
Definition at line 145 of file BasicPRM.h.