Class Debug::Progress
Defined in File debug_Planner.hpp
Nested Relationships
This class is a nested type of Class Planner::Debug.
Class Documentation
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class Progress
Public Functions
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rmf_utils::optional<Plan> step()
Step the planner forward one time. This will expand the current highest priority Node in the queue and move it to the back of expanded_nodes. The nodes that result from the expansion will all be added to the queue.
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inline operator bool() const
Implicitly cast the Progress instance to a boolean. The value will be true if the plan can keep expanding, and it will be false if it cannot expand any further.
After finding a solution, it may be possible to continue expanding, but there is no point because the first solution returned is guaranteed to be the optimal one.
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const Node::SearchQueue &queue() const
A priority queue of unexpanded Nodes. They are sorted based on g(n)+h(n) in ascending order (see Node::Compare).
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rmf_utils::optional<Plan> step()