Edge.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
 
#include <array>
#include <limits>
#include <memory>
 
#include "ompl/base/Cost.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace aitstar
        {
            // Forward declaration of a vertex.
            class Vertex;
 
            class Edge
            {
            public:
                Edge();
 
                Edge(const std::shared_ptr<Vertex> &parent, const std::shared_ptr<Vertex> &child,
                     const std::array<ompl::base::Cost, 3u> &sortKey);
 
                ~Edge() = default;
 
                std::shared_ptr<Vertex> getParent() const;
 
                std::shared_ptr<Vertex> getChild() const;
 
                const std::array<ompl::base::Cost, 3u> &getSortKey() const;
 
                void setSortKey(const std::array<ompl::base::Cost, 3u> &key);
 
            private:
                std::shared_ptr<Vertex> parent_;
 
                std::shared_ptr<Vertex> child_;
 
                std::array<ompl::base::Cost, 3u> sortKey_;
            };
 
        }  // namespace aitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  //  OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_