Edge.cpp
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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:111
Main namespace. Contains everything in this library.
Definition: AppBase.h:21