ompl::base::PlannerSolution Struct Reference

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

`#include <ompl/base/ProblemDefinition.h>`

## 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 69 of file ProblemDefinition.h.

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

- ompl/base/ProblemDefinition.h
- ompl/base/src/ProblemDefinition.cpp