Class Edge

• Defined in File Edge.h

Class Documentation

class Edge

Public Functions

Edge()

Needs a default constructor for the binary heap.

Edge(const std::shared_ptr<Vertex> &parent, const std::shared_ptr<Vertex> &child, const std::array<ompl::base::Cost, 3u> &sortKey)

Constructs an edge from a parent, a child, and the sort key.

~Edge() = default

Destructs an edge.

std::shared_ptr<Vertex> getParent() const

Returns the parent in this edge.

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.