Struct Debug::Node¶
Defined in File debug_Planner.hpp
Nested Relationships¶
This struct is a nested type of Class Planner::Debug.
Nested Types¶
Struct Documentation¶
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struct
rmf_traffic::agv::Planner::Debug
::
Node
A Node in the planning search. A final Planning solution will be a chain of these Nodes, aggregated into a Plan data structure.
Public Types
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using
SearchQueue
= std::priority_queue<ConstNodePtr, std::vector<ConstNodePtr>, Compare>
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using
Vector
= std::vector<ConstNodePtr>
Public Members
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ConstNodePtr
parent
The parent of this Node. If this is a nullptr, then this was a starting node.
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double
remaining_cost_estimate
An estimate of the remaining cost, based on the heuristic.
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double
current_cost
The actual cost that has accumulated on the way to this Node.
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rmf_utils::optional<std::size_t>
waypoint
The waypoint that this Node stops on.
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double
orientation
The orientation that this Node ends with.
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rmf_utils::optional<std::size_t>
start_set_index
If this is a starting node, then this will be the index.
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std::size_t
id
A unique ID that sticks with this node for its entire lifetime. This will also (roughly) reflect the order of node creation.
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struct
Compare
Public Functions
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inline bool
operator()
(const ConstNodePtr &a, const ConstNodePtr &b)
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inline bool
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using