ompl::geometric::RRTXstatic::MotionCompare Struct Reference

Defines the operator to compare motions. More...

#include <ompl/geometric/planners/rrt/RRTXstatic.h>

Public Member Functions

 MotionCompare (base::OptimizationObjectivePtr opt, base::ProblemDefinitionPtr pdef)
 Constructor.
 
base::Cost costPlusHeuristic (const Motion *m) const
 Combines the current cost of a motion and the heuritic to the goal.
 
base::Cost alphaCostPlusHeuristic (const Motion *m, double alpha) const
 Combines the current cost of a motion, weighted by alpha, and the heuritic to the goal.
 
bool operator() (const Motion *m1, const Motion *m2) const
 Ordering of motions.
 

Public Attributes

base::OptimizationObjectivePtr opt_
 Pointer to the Optimization Objective.
 
base::ProblemDefinitionPtr pdef_
 Pointer to the Problem Definition.
 

Detailed Description

Defines the operator to compare motions.

Definition at line 290 of file RRTXstatic.h.


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