Closed Shushman closed 5 years ago
Beginner's question about this line: https://github.com/whoenig/libMultiRobotPlanning/blob/master/include/libMultiRobotPlanning/cbs.hpp#L189
If I understood the paper correctly, the high-level search is best-first according to lowest node cost; and I believe the d_ary_heap is a min-heap, so shouldn't the line be return cost < n.cost instead? What am I missing?
d_ary_heap
return cost < n.cost
Boost uses max heaps rather than min heaps, see https://www.boost.org/doc/libs/1_70_0/doc/html/heap/concepts.html.
Whoops, my bad. Thanks!
Beginner's question about this line: https://github.com/whoenig/libMultiRobotPlanning/blob/master/include/libMultiRobotPlanning/cbs.hpp#L189
If I understood the paper correctly, the high-level search is best-first according to lowest node cost; and I believe the
d_ary_heap
is a min-heap, so shouldn't the line bereturn cost < n.cost
instead? What am I missing?