mpp::PlannerOutput Struct Reference

#include <mpp/data/PlannerOutput.h>

Public Member Functions
	PlannerOutput ()=default
	~PlannerOutput ()=default

Public Attributes
PlannerInput	originalInput
bool	success = false
double	computationTime = 0
double	pathCost = std::numeric_limits<double>::max()
std::optional< TNodeID >	goalNodeId
std::optional< TNodeID >	bestNodeId
cost_t	bestNodeIdCostToGoal = std::numeric_limits<cost_t>::max()
MotionPrimitivesTreeSE2	motionTree

Detailed Description

The output of the path planner

Constructor & Destructor Documentation

PlannerOutput()

mpp::PlannerOutput::PlannerOutput ( )

default

~PlannerOutput()

mpp::PlannerOutput::~PlannerOutput ( )

default

Member Data Documentation

bestNodeId

std::optional<TNodeID> mpp::PlannerOutput::bestNodeId

The tree node with the smallest cost-to-goal. This will be identical to goalNodeId for successful plans reaching the desired goal state, or something different for unfinished or unsuccessful plans.

bestNodeIdCostToGoal

cost_t mpp::PlannerOutput::bestNodeIdCostToGoal = std::numeric_limits<cost_t>::max()

computationTime

double mpp::PlannerOutput::computationTime = 0

Time spent (in secs)

goalNodeId

std::optional<TNodeID> mpp::PlannerOutput::goalNodeId

The tree node ID for the goal pose

motionTree

MotionPrimitivesTreeSE2 mpp::PlannerOutput::motionTree

The generated motion tree that explores free space starting at "start"

originalInput

PlannerInput mpp::PlannerOutput::originalInput

pathCost

double mpp::PlannerOutput::pathCost = std::numeric_limits<double>::max()

Total cost of the best found path. Cost is the Euclidean distance, modified by the additional cost map layers.

success

bool mpp::PlannerOutput::success = false

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

• /home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/data/PlannerOutput.h