37 #ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
38 #define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_EDGE_
44 #include "ompl/base/Cost.h"
62 Edge(
const std::shared_ptr<Vertex> &parent,
const std::shared_ptr<Vertex> &child,
63 const std::array<ompl::base::Cost, 3u> &sortKey);
69 std::shared_ptr<Vertex>
getParent()
const;
72 std::shared_ptr<Vertex>
getChild()
const;
75 const std::array<ompl::base::Cost, 3u> &
getSortKey()
const;
78 void setSortKey(
const std::array<ompl::base::Cost, 3u> &key);
82 std::shared_ptr<Vertex> parent_;
85 std::shared_ptr<Vertex> child_;
88 std::array<ompl::base::Cost, 3u> sortKey_;
std::shared_ptr< Vertex > getChild() const
Returns the child in this edge.
const std::array< ompl::base::Cost, 3u > & getSortKey() const
Returns the sort key associated with this edge.
void setSortKey(const std::array< ompl::base::Cost, 3u > &key)
Sets the sort key associated with this edge.
~Edge()=default
Destructs an edge.
std::shared_ptr< Vertex > getParent() const
Returns the parent in this edge.
Edge()
Needs a default constructor for the binary heap.
Main namespace. Contains everything in this library.