Struct RRTXstatic::MotionCompare

Defined in File RRTXstatic.h

Nested Relationships

This struct is a nested type of Class RRTXstatic.

Struct Documentation

struct MotionCompare

Defines the operator to compare motions.

Public Functions

inline MotionCompare(base::OptimizationObjectivePtr opt, base::ProblemDefinitionPtr pdef): Constructor.

inline base::Cost costPlusHeuristic(const Motion *m) const: Combines the current cost of a motion and the heuritic to the goal.

inline 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.

inline bool operator()(const Motion *m1, const Motion *m2) const: Ordering of motions.

Public Members

base::OptimizationObjectivePtr opt_: Pointer to the Optimization Objective.

base::ProblemDefinitionPtr pdef_: Pointer to the Problem Definition.