Edge.cpp
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2019-present University of Oxford
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the names of the copyright holders nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 // Authors: Marlin Strub
36 
37 #include "ompl/geometric/planners/informedtrees/aitstar/Edge.h"
38 
39 namespace 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
Edge()
Needs a default constructor for the binary heap.
Definition: Edge.cpp:141
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:112
Main namespace. Contains everything in this library.
Definition: AppBase.h:22