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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 290 of file RRTXstatic.h.

Constructor & Destructor Documentation

◆ MotionCompare()

ompl::geometric::RRTXstatic::MotionCompare::MotionCompare ( base::OptimizationObjectivePtr opt,
base::ProblemDefinitionPtr pdef )
inline

Constructor.

Definition at line 293 of file RRTXstatic.h.

Member Function Documentation

◆ alphaCostPlusHeuristic()

base::Cost ompl::geometric::RRTXstatic::MotionCompare::alphaCostPlusHeuristic ( const Motion * m,
double alpha ) const
inline

Combines the current cost of a motion, weighted by alpha, and the heuritic to the goal.

Definition at line 305 of file RRTXstatic.h.

◆ costPlusHeuristic()

base::Cost ompl::geometric::RRTXstatic::MotionCompare::costPlusHeuristic ( const Motion * m) const
inline

Combines the current cost of a motion and the heuritic to the goal.

Definition at line 299 of file RRTXstatic.h.

◆ operator()()

bool ompl::geometric::RRTXstatic::MotionCompare::operator() ( const Motion * m1,
const Motion * m2 ) const
inline

Ordering of motions.

Definition at line 312 of file RRTXstatic.h.

Member Data Documentation

◆ opt_

base::OptimizationObjectivePtr ompl::geometric::RRTXstatic::MotionCompare::opt_

Pointer to the Optimization Objective.

Definition at line 319 of file RRTXstatic.h.

◆ pdef_

base::ProblemDefinitionPtr ompl::geometric::RRTXstatic::MotionCompare::pdef_

Pointer to the Problem Definition.

Definition at line 322 of file RRTXstatic.h.


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