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.

Constructor & Destructor Documentation

PlannerSolution()

ompl::base::PlannerSolution::PlannerSolution ( const PathPtr & path )

inline

Construct a solution that consists of a path and its attributes (whether it is approximate and the difference to the desired goal).

Definition at line 73 of file ProblemDefinition.h.

Member Function Documentation

operator<()

bool ompl::base::PlannerSolution::operator<

(

const PlannerSolution &

b

)

const

Define a ranking for solutions.

Definition at line 147 of file ProblemDefinition.cpp.

operator==()

bool ompl::base::PlannerSolution::operator== ( const PlannerSolution & p ) const

inline

Return true if two solutions are the same.

Definition at line 79 of file ProblemDefinition.h.

setApproximate()

void ompl::base::PlannerSolution::setApproximate ( double difference )

inline

Specify that the solution is approximate and set the difference to the goal.

Definition at line 88 of file ProblemDefinition.h.

setOptimized()

void ompl::base::PlannerSolution::setOptimized ( const OptimizationObjectivePtr & opt, Cost cost, bool meetsObjective )

inline

Set the optimization objective used to optimize this solution, the cost of the solution and whether it was optimized or not.

Definition at line 96 of file ProblemDefinition.h.

setPlannerName()

void ompl::base::PlannerSolution::setPlannerName ( const std::string & name )

inline

Set the name of the planner used to compute this solution.

Definition at line 104 of file ProblemDefinition.h.

Member Data Documentation

approximate_

bool ompl::base::PlannerSolution::approximate_ {false}

True if goal was not achieved, but an approximate solution was found.

Definition at line 120 of file ProblemDefinition.h.

cost_

Cost ompl::base::PlannerSolution::cost_

The cost of this solution path, with respect to the optimization objective.

Definition at line 132 of file ProblemDefinition.h.

difference_

double ompl::base::PlannerSolution::difference_ {0.}

The achieved difference between the found solution and the desired goal.

Definition at line 123 of file ProblemDefinition.h.

index_

int ompl::base::PlannerSolution::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.

Definition at line 111 of file ProblemDefinition.h.

length_

double ompl::base::PlannerSolution::length_

For efficiency reasons, keep the length of the path as well.

Definition at line 117 of file ProblemDefinition.h.

opt_

OptimizationObjectivePtr ompl::base::PlannerSolution::opt_

Optimization objective that was used to optimize this solution.

Definition at line 129 of file ProblemDefinition.h.

optimized_

bool ompl::base::PlannerSolution::optimized_ {false}

True if the solution was optimized to meet the specified optimization criterion.

Definition at line 126 of file ProblemDefinition.h.

path_

PathPtr ompl::base::PlannerSolution::path_

Solution path.

Definition at line 114 of file ProblemDefinition.h.

plannerName_

std::string ompl::base::PlannerSolution::plannerName_

Name of planner type that generated this solution, as received from Planner::getName().

Definition at line 135 of file ProblemDefinition.h.

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

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