Class Planner::QuickestPath

Nested Relationships

This class is a nested type of Class Planner.

Class Documentation

class QuickestPath

The quickest path is a simplified version of the Planner::Result class that can return faster but takes fewer factors into consideration. It does not account for translational acceleration/deceleration of the agent, nor does it consider rotational velocity or rotational acceleration. The traffic schedule is also not accounted for in this option.

QuickestPath will not provide detailed timing information, instead only giving a simplified estimate of the cost and the graph indices for the quickest path.

This quickest path does consider speed limits on lanes when estimating the quickest path. Besides the graph topology, lane closures, event duration estimates, and speed limits, no other planner Configuration or Option values are considered for the quickest path.

This information is used internally as a heuristic for the full planner. The results of using this feature are cached and shared with the full planner, and vice-versa.

Public Functions

double cost() const

The cost of following this path.

const std::vector<std::size_t> &path() const

The quickest path that was found.