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// Authors: Marlin Strub

#include "ompl/geometric/planners/informedtrees/aitstar/Edge.h"

namespace ompl
{
    namespace geometric
    {
        namespace aitstar
        {
            Edge::Edge()
              : parent_()
              , child_()
              , sortKey_({ompl::base::Cost(std::numeric_limits<double>::signaling_NaN()),
                          ompl::base::Cost(std::numeric_limits<double>::signaling_NaN()),
                          ompl::base::Cost(std::numeric_limits<double>::signaling_NaN())})
            {
            }

            Edge::Edge(const std::shared_ptr<Vertex> &parent, const std::shared_ptr<Vertex> &child,
                       const std::array<ompl::base::Cost, 3u> &sortKey)
              : parent_(parent), child_(child), sortKey_(sortKey)
            {
            }

            std::shared_ptr<Vertex> Edge::getParent() const
            {
                return parent_;
            }

            std::shared_ptr<Vertex> Edge::getChild() const
            {
                return child_;
            }

            const std::array<ompl::base::Cost, 3u> &Edge::getSortKey() const
            {
                return sortKey_;
            }

            void Edge::setSortKey(const std::array<ompl::base::Cost, 3u> &key)
            {
                sortKey_ = key;
            }

        }  // namespace aitstar

    }  // namespace geometric

}  // namespace ompl
