libMultiRobotPlanning::PlanResult< State, Action, Cost > Struct Template Reference

Represents the path for an agent. More...

#include <planresult.hpp>

Public Attributes
std::vector< std::pair< State, Cost > >	states
	states and their gScore More...
std::vector< std::pair< Action, Cost > >	actions
	actions and their cost More...
Cost	cost
	actual cost of the result More...
Cost	fmin
	lower bound of the cost (for suboptimal solvers) More...

Detailed Description

template<typename State, typename Action, typename Cost>
struct libMultiRobotPlanning::PlanResult< State, Action, Cost >

Represents the path for an agent.

This class is used to store the result of a planner for a single agent. It has both the ordered list of states that need to be traversed as well as the ordered list of actions together with their respective costs

Template Parameters

State	Custom state for the search. Needs to be copy'able
Action	Custom action for the search. Needs to be copy'able
Cost	Custom Cost type (integer or floating point types)

Examples:

cl_cbs.cpp, and sh_astar.cpp.

Member Data Documentation

template<typename State, typename Action, typename Cost>

std::vector<std::pair<Action, Cost> > libMultiRobotPlanning::PlanResult< State, Action, Cost >::actions

actions and their cost

template<typename State, typename Action, typename Cost>

Cost libMultiRobotPlanning::PlanResult< State, Action, Cost >::cost

actual cost of the result

template<typename State, typename Action, typename Cost>

Cost libMultiRobotPlanning::PlanResult< State, Action, Cost >::fmin

lower bound of the cost (for suboptimal solvers)

template<typename State, typename Action, typename Cost>

std::vector<std::pair<State, Cost> > libMultiRobotPlanning::PlanResult< State, Action, Cost >::states

states and their gScore

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

• include/planresult.hpp