Edge.h
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34 
35 // Authors: Marlin Strub
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
38 #define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
39 
40 #include <array>
41 #include <limits>
42 #include <memory>
43 
44 #include "ompl/base/Cost.h"
45 
46 namespace ompl
47 {
48  namespace geometric
49  {
50  namespace aitstar
51  {
52  // Forward declaration of a vertex.
53  class Vertex;
54 
55  class Edge
56  {
57  public:
59  Edge();
60 
62  Edge(const std::shared_ptr<Vertex> &parent, const std::shared_ptr<Vertex> &child,
63  const std::array<ompl::base::Cost, 3u> &sortKey);
64 
66  ~Edge() = default;
67 
69  std::shared_ptr<Vertex> getParent() const;
70 
72  std::shared_ptr<Vertex> getChild() const;
73 
75  const std::array<ompl::base::Cost, 3u> &getSortKey() const;
76 
78  void setSortKey(const std::array<ompl::base::Cost, 3u> &key);
79 
80  private:
82  std::shared_ptr<Vertex> parent_;
83 
85  std::shared_ptr<Vertex> child_;
86 
88  std::array<ompl::base::Cost, 3u> sortKey_;
89  };
90 
91  } // namespace aitstar
92 
93  } // namespace geometric
94 
95 } // namespace ompl
96 
97 #endif // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
Edge()
Needs a default constructor for the binary heap.
Definition: Edge.cpp:141
std::shared_ptr< Vertex > getParent() const
Returns the parent in this edge.
Definition: Edge.cpp:156
std::shared_ptr< Vertex > getChild() const
Returns the child in this edge.
Definition: Edge.cpp:161
const std::array< ompl::base::Cost, 3u > & getSortKey() const
Returns the sort key associated with this edge.
Definition: Edge.cpp:166
void setSortKey(const std::array< ompl::base::Cost, 3u > &key)
Sets the sort key associated with this edge.
Definition: Edge.cpp:171
~Edge()=default
Destructs an edge.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22