37 #ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_HELPERFUNCTIONS_
38 #define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_HELPERFUNCTIONS_
48 template <
typename T,
typename U>
49 std::pair<T, U>
operator+(
const std::pair<T, U> &lhs,
const std::pair<T, U> &rhs)
51 return std::make_pair(lhs.first + rhs.first, lhs.second + rhs.second);
56 void swapPopBack(
typename V::iterator iter, V *vect)
59 if (iter != (vect->end() - 1))
61 std::swap(*iter, vect->back());
69 template <std::
size_t SIZE>
70 std::ostream&
operator<<(std::ostream& out,
const std::array<ompl::base::Cost, SIZE>& costArray)
76 for (
unsigned int i = 0u; i < costArray.size(); ++i)
79 out << costArray.at(i);
82 if (i != costArray.size() - 1u)
StateSpacePtr operator+(const StateSpacePtr &a, const StateSpacePtr &b)
Construct a compound state space from two existing state spaces. The components of this compound spac...
std::ostream & operator<<(std::ostream &out, const ScopedState< T > &state)
Overload stream output operator. Calls ompl::base::StateSpace::printState()