Representation of a solution to a planning problem. More...
#include <ompl/base/ProblemDefinition.h>
Public Member Functions | |
PlannerSolution (const PathPtr &path) | |
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. | |
void | setApproximate (double difference) |
Specify that the solution is approximate and set the difference to the goal. | |
void | setOptimized (const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective) |
Set the optimization objective used to optimize this solution, the cost of the solution and whether it was optimized or not. | |
void | setPlannerName (const std::string &name) |
Set the name of the planner used to compute this solution. |
Public Attributes | |
int | index_ {-1} |
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_ {false} |
True if goal was not achieved, but an approximate solution was found. | |
double | difference_ {0.} |
The achieved difference between the found solution and the desired goal. | |
bool | optimized_ {false} |
True if the solution was optimized to meet the specified optimization criterion. | |
OptimizationObjectivePtr | opt_ |
Optimization objective that was used to optimize this solution. | |
Cost | cost_ |
The cost of this solution path, with respect to the optimization objective. | |
std::string | plannerName_ |
Name of planner type that generated this solution, as received from Planner::getName() |
Detailed Description
Representation of a solution to a planning problem.
Definition at line 69 of file ProblemDefinition.h.
Constructor & Destructor Documentation
◆ PlannerSolution()
|
inline |
Construct a solution that consists of a path and its attributes (whether it is approximate and the difference to the desired goal)
Definition at line 73 of file ProblemDefinition.h.
Member Function Documentation
◆ operator<()
bool ompl::base::PlannerSolution::operator< | ( | const PlannerSolution & | b | ) | const |
Define a ranking for solutions.
Definition at line 148 of file ProblemDefinition.cpp.
◆ operator==()
|
inline |
Return true if two solutions are the same.
Definition at line 80 of file ProblemDefinition.h.
◆ setApproximate()
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inline |
Specify that the solution is approximate and set the difference to the goal.
Definition at line 89 of file ProblemDefinition.h.
◆ setOptimized()
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inline |
Set the optimization objective used to optimize this solution, the cost of the solution and whether it was optimized or not.
Definition at line 97 of file ProblemDefinition.h.
◆ setPlannerName()
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inline |
Set the name of the planner used to compute this solution.
Definition at line 105 of file ProblemDefinition.h.
Member Data Documentation
◆ approximate_
bool ompl::base::PlannerSolution::approximate_ {false} |
True if goal was not achieved, but an approximate solution was found.
Definition at line 121 of file ProblemDefinition.h.
◆ cost_
Cost ompl::base::PlannerSolution::cost_ |
The cost of this solution path, with respect to the optimization objective.
Definition at line 133 of file ProblemDefinition.h.
◆ difference_
double ompl::base::PlannerSolution::difference_ {0.} |
The achieved difference between the found solution and the desired goal.
Definition at line 124 of file ProblemDefinition.h.
◆ index_
int ompl::base::PlannerSolution::index_ {-1} |
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.
Definition at line 112 of file ProblemDefinition.h.
◆ length_
double ompl::base::PlannerSolution::length_ |
For efficiency reasons, keep the length of the path as well.
Definition at line 118 of file ProblemDefinition.h.
◆ opt_
OptimizationObjectivePtr ompl::base::PlannerSolution::opt_ |
Optimization objective that was used to optimize this solution.
Definition at line 130 of file ProblemDefinition.h.
◆ optimized_
bool ompl::base::PlannerSolution::optimized_ {false} |
True if the solution was optimized to meet the specified optimization criterion.
Definition at line 127 of file ProblemDefinition.h.
◆ path_
PathPtr ompl::base::PlannerSolution::path_ |
Solution path.
Definition at line 115 of file ProblemDefinition.h.
◆ plannerName_
std::string ompl::base::PlannerSolution::plannerName_ |
Name of planner type that generated this solution, as received from Planner::getName()
Definition at line 136 of file ProblemDefinition.h.
The documentation for this struct was generated from the following files:
- ompl/base/ProblemDefinition.h
- ompl/base/src/ProblemDefinition.cpp