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Edge.cpp
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34
35// Authors: Marlin Strub
36
37#include "ompl/geometric/planners/informedtrees/aitstar/Edge.h"
38
39namespace ompl
40{
41 namespace geometric
42 {
43 namespace aitstar
44 {
45 Edge::Edge()
46 : parent_()
47 , child_()
48 , sortKey_({ompl::base::Cost(std::numeric_limits<double>::signaling_NaN()),
49 ompl::base::Cost(std::numeric_limits<double>::signaling_NaN()),
50 ompl::base::Cost(std::numeric_limits<double>::signaling_NaN())})
51 {
52 }
53
54 Edge::Edge(const std::shared_ptr<Vertex> &parent, const std::shared_ptr<Vertex> &child,
55 const std::array<ompl::base::Cost, 3u> &sortKey)
56 : parent_(parent), child_(child), sortKey_(sortKey)
57 {
58 }
59
60 std::shared_ptr<Vertex> Edge::getParent() const
61 {
62 return parent_;
63 }
64
65 std::shared_ptr<Vertex> Edge::getChild() const
66 {
67 return child_;
68 }
69
70 const std::array<ompl::base::Cost, 3u> &Edge::getSortKey() const
71 {
72 return sortKey_;
73 }
74
75 void Edge::setSortKey(const std::array<ompl::base::Cost, 3u> &key)
76 {
77 sortKey_ = key;
78 }
79
80 } // namespace aitstar
81
82 } // namespace geometric
83
84} // namespace ompl
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
This namespace contains code that is specific to planning under geometric constraints.
Main namespace. Contains everything in this library.