pathplanners::GeoPlanner::PlannerStateCompare Struct Reference

This struct is used to compare two PlannerState objects based on their cost to properly sort the priority queue. More...

Public Member Functions
bool	operator() (const PlannerState &stLeftHandSide, const PlannerState &stRightHandSide) const

Detailed Description

This struct is used to compare two PlannerState objects based on their cost to properly sort the priority queue.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-07-19

Member Function Documentation

operator()()

bool pathplanners::GeoPlanner::PlannerStateCompare::operator() ( const PlannerState &  stLeftHandSide, const PlannerState &  stRightHandSide  ) const

inline

                    {
                        // Tiebreaker: Compare based on overall F-Cost, lower cost means higher priority in the Min-Heap.
                        return (stLeftHandSide.dGCost + stLeftHandSide.dHCost) > (stRightHandSide.dGCost + stRightHandSide.dHCost);
                    }

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

• src/algorithms/planners/GeoPlanner.h