Representation of a solution to a planning problem. More...
#include <Goal.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. |