PathGeometric.h
76 PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition: PathGeometric.h:237
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
Definition: PathGeometric.h:231
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
Definition: PathGeometric.h:65
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition: PathGeometric.h:225
std::vector< base::State * > & getStates()
Get the states that make up the path (as a reference, so it can be modified, hence the function is no...
Definition: PathGeometric.h:219
A boost shared pointer wrapper for ompl::base::SpaceInformation.
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
std::vector< base::State * > states_
The list of states that make up the path.
Definition: PathGeometric.h:253
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47