Private-OMPL-Tutorials

This is my own OMPL Tutorials

(1) ompl::base::Cost -> double v_;{value()-> return v_};

(2) Constructs an edge from a parent, a child, and the value you want to evaluate the edge cost, such as f,h,g:

            Edge(shared_ptr<Vertex> &parent, shared_ptr<Vertex> &child,const array<ompl::base::Cost, 3u> ); <br />

(3) Edge queue, a priority queue for all edges on the motion tree:

           using EdgeQueue = ompl::BinaryHeap<Edge,std::function<bool(const Edge &, const Edge &)>>;<br />