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// Authors: Marlin Strub

#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_EDGE_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_EDGE_

#include <array>
#include <limits>
#include <memory>

#include "ompl/base/Cost.h"

namespace ompl
{
    namespace geometric
    {
        namespace eitstar
        {
            // Forward declaration of state to break include cycle.
            class State;

            /** \brief A struct for basic edge data. */
            struct Edge
            {
                /** \brief The default constructor. This is necessary because OMPL's heap requires elements to be
                 * default constructible. */
                Edge() = default;

                /** \brief Construct the edge by providing source and target states. */
                Edge(const std::shared_ptr<State> &source, const std::shared_ptr<State> &target);

                /** \brief Destruct the edge. */
                ~Edge() = default;

                /** \brief The parent state of this edge. */
                std::shared_ptr<State> source;

                /** \brief The child state of this edge. */
                std::shared_ptr<State> target;
            };

        }  // namespace eitstar

    }  // namespace geometric

}  // namespace ompl

#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_EDGE_
