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ompl::base::PlannerSolution Struct Reference

Representation of a solution to a planning problem. More...

#include <ProblemDefinition.h>

Public Member Functions

 PlannerSolution (const PathPtr &path, bool approximate=false, double difference=-1.0)
 Construct a solution that consists of a path and its attributes (whether it is approximate and the difference to the desired goal)
bool operator== (const PlannerSolution &p) const
 Return true if two solutions are the same.
bool operator< (const PlannerSolution &b) const
 Define a ranking for solutions.

Public Attributes

int index_
 When multiple solutions are found, each is given a number starting at 0, so that the order in which the solutions was found can be retrieved.
PathPtr path_
 Solution path.
double length_
 For efficiency reasons, keep the length of the path as well.
bool approximate_
 True if goal was not achieved, but an approximate solution was found.
double difference_
 The achieved difference between the found solution and the desired goal.

Detailed Description

Representation of a solution to a planning problem.

Definition at line 70 of file ProblemDefinition.h.


The documentation for this struct was generated from the following file: