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Edge.h
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34
35// Authors: Marlin Strub
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
38#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
39
40#include <array>
41#include <limits>
42#include <memory>
43
44#include "ompl/base/Cost.h"
45
46namespace ompl
47{
48 namespace geometric
49 {
50 namespace aitstar
51 {
52 // Forward declaration of a vertex.
53 class Vertex;
54
55 class Edge
56 {
57 public:
59 Edge();
60
62 Edge(const std::shared_ptr<Vertex> &parent, const std::shared_ptr<Vertex> &child,
63 const std::array<ompl::base::Cost, 3u> &sortKey);
64
66 ~Edge() = default;
67
69 std::shared_ptr<Vertex> getParent() const;
70
72 std::shared_ptr<Vertex> getChild() const;
73
75 const std::array<ompl::base::Cost, 3u> &getSortKey() const;
76
78 void setSortKey(const std::array<ompl::base::Cost, 3u> &key);
79
80 private:
82 std::shared_ptr<Vertex> parent_;
83
85 std::shared_ptr<Vertex> child_;
86
88 std::array<ompl::base::Cost, 3u> sortKey_;
89 };
90
91 } // namespace aitstar
92
93 } // namespace geometric
94
95} // namespace ompl
96
97#endif // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
std::shared_ptr< Vertex > getChild() const
Returns the child in this edge.
Definition: Edge.cpp:65
const std::array< ompl::base::Cost, 3u > & getSortKey() const
Returns the sort key associated with this edge.
Definition: Edge.cpp:70
void setSortKey(const std::array< ompl::base::Cost, 3u > &key)
Sets the sort key associated with this edge.
Definition: Edge.cpp:75
~Edge()=default
Destructs an edge.
std::shared_ptr< Vertex > getParent() const
Returns the parent in this edge.
Definition: Edge.cpp:60
Edge()
Needs a default constructor for the binary heap.
Definition: Edge.cpp:45
Main namespace. Contains everything in this library.