CostHelper.cpp
48 void BITstar::CostHelper::setup(const ompl::base::OptimizationObjectivePtr &opt, const ImplicitGraphPtr &graph)
68 for (auto goalIter = graphPtr_->goalVerticesBeginConst(); goalIter != graphPtr_->goalVerticesEndConst();
87 for (auto startIter = graphPtr_->startVerticesBeginConst(); startIter != graphPtr_->startVerticesEndConst();
ompl::base::Cost costToComeHeuristic(const VertexConstPtr &vertex) const
Calculate a heuristic estimate of the cost-to-come for a Vertex.
Definition: CostHelper.cpp:80
std::shared_ptr< ImplicitGraph > ImplicitGraphPtr
An implicit graph shared pointer.
Definition: BITstar.h:148
std::shared_ptr< const Vertex > VertexConstPtr
A constant vertex shared pointer.
Definition: BITstar.h:126
A shared pointer wrapper for ompl::base::OptimizationObjective.
void setup(const ompl::base::OptimizationObjectivePtr &opt, const ImplicitGraphPtr &graph)
Setup the CostHelper, must be called before use.
Definition: CostHelper.cpp:48
ompl::base::Cost costToGoHeuristic(const VertexConstPtr &vertex) const
Calculate a heuristic estimate of the cost-to-go for a Vertex.
Definition: CostHelper.cpp:61
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47