Edge.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_EDGE_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_EDGE_
 
#include <array>
#include <limits>
#include <memory>
 
#include "ompl/base/Cost.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace eitstar
        {
            // Forward declaration of state to break include cycle.
            class State;

            struct Edge
            {
                Edge() = default;

                Edge(const std::shared_ptr<State> &source, const std::shared_ptr<State> &target);

                ~Edge() = default;

                std::shared_ptr<State> source;

                std::shared_ptr<State> target;
            };
 
        }  // namespace eitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_EDGE_