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 386 of file RRTXstatic.h.
The documentation for this struct was generated from the following file:
- ompl/geometric/planners/rrt/RRTXstatic.h