Representation of a solution to a planning problem. More...

Public Member Functions
	PlannerSolution (const PathPtr &path)
	Construct a solution that consists of a path and its attributes (whether it is approximate and the difference to the desired goal)

bool	operator== (const PlannerSolution &p) const
	Return true if two solutions are the same.

bool	operator< (const PlannerSolution &b) const
	Define a ranking for solutions.

void	setApproximate (double difference)
	Specify that the solution is approximate and set the difference to the goal.

void	setOptimized (const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
	Set the optimization objective used to optimize this solution, the cost of the solution and whether it was optimized or not.

void	setPlannerName (const std::string &name)
	Set the name of the planner used to compute this solution.

Public Attributes
int	index_ {-1}
	When multiple solutions are found, each is given a number starting at 0, so that the order in which the solutions was found can be retrieved.

PathPtr	path_
	Solution path.

double	length_
	For efficiency reasons, keep the length of the path as well.

bool	approximate_ {false}
	True if goal was not achieved, but an approximate solution was found.

double	difference_ {0.}
	The achieved difference between the found solution and the desired goal.

bool	optimized_ {false}
	True if the solution was optimized to meet the specified optimization criterion.

OptimizationObjectivePtr	opt_
	Optimization objective that was used to optimize this solution.

Cost	cost_
	The cost of this solution path, with respect to the optimization objective.

std::string	plannerName_
	Name of planner type that generated this solution, as received from Planner::getName()

Detailed Description

Representation of a solution to a planning problem.

Definition at line 133 of file ProblemDefinition.h.

The documentation for this struct was generated from the following files:

Public Member Functions