breadth_first_search_solver.h
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35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_BREADTH_FIRST_SEARCH_SOLVER_H_
38 #define JSK_FOOTSTEP_PLANNER_BREADTH_FIRST_SEARCH_SOLVER_H_
39 
41 #include <queue>
42 
43 namespace jsk_footstep_planner
44 {
45  template <class GraphT>
46  class BreadthFirstSearchSolver: public Solver<GraphT>
47  {
48  public:
50  typedef typename GraphT::StateT::Ptr StatePtr;
51  typedef typename GraphT::StateT State;
52  typedef typename GraphT::Ptr GraphPtr;
54 
56 
57  virtual void addToOpenList(SolverNodePtr state)
58  {
59  open_list_.push(state);
60  }
61 
62  virtual bool isOpenListEmpty()
63  {
64  if (verbose_) {
65  std::cerr << __PRETTY_FUNCTION__ << " queue size: " << open_list_.size() << std::endl;
66  }
67  return open_list_.empty();
68  }
69 
71  {
72  SolverNodePtr ret = open_list_.front();
73  open_list_.pop();
74  return ret;
75  }
76  protected:
77  std::queue<SolverNodePtr> open_list_;
79  private:
80 
81  };
82 }
83 
84 #endif
solver.h
jsk_footstep_planner::BreadthFirstSearchSolver::isOpenListEmpty
virtual bool isOpenListEmpty()
Definition: breadth_first_search_solver.h:126
jsk_footstep_planner::BreadthFirstSearchSolver::open_list_
std::queue< SolverNodePtr > open_list_
Definition: breadth_first_search_solver.h:141
jsk_footstep_planner::BreadthFirstSearchSolver::State
GraphT::StateT State
Definition: breadth_first_search_solver.h:115
boost::shared_ptr
jsk_footstep_planner::Solver
Definition: solver.h:79
jsk_footstep_planner::BreadthFirstSearchSolver::popFromOpenList
virtual SolverNodePtr popFromOpenList()
Definition: breadth_first_search_solver.h:134
jsk_footstep_planner::SolverNode::Ptr
boost::shared_ptr< SolverNode > Ptr
Definition: solver_node.h:117
jsk_footstep_planner::BreadthFirstSearchSolver::SolverNodePtr
SolverNode< State, GraphT >::Ptr SolverNodePtr
Definition: breadth_first_search_solver.h:117
jsk_footstep_planner
Definition: ann_grid.h:50
Solver
jsk_footstep_planner::Solver::verbose_
bool verbose_
Definition: solver.h:202
jsk_footstep_planner::BreadthFirstSearchSolver::BreadthFirstSearchSolver
BreadthFirstSearchSolver(GraphPtr graph)
Definition: breadth_first_search_solver.h:119
graph
FootstepGraph::Ptr graph
Definition: footstep_planning_2d_interactive_demo.cpp:51
jsk_footstep_planner::BreadthFirstSearchSolver::Ptr
boost::shared_ptr< BreadthFirstSearchSolver > Ptr
Definition: breadth_first_search_solver.h:113
jsk_footstep_planner::BreadthFirstSearchSolver::GraphPtr
GraphT::Ptr GraphPtr
Definition: breadth_first_search_solver.h:116
jsk_footstep_planner::BreadthFirstSearchSolver::addToOpenList
virtual void addToOpenList(SolverNodePtr state)
Definition: breadth_first_search_solver.h:121
jsk_footstep_planner::BreadthFirstSearchSolver::StatePtr
GraphT::StateT::Ptr StatePtr
Definition: breadth_first_search_solver.h:114


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jan 24 2024 04:05:29