art_nav: GraphSearch.h Source File

00001 /* -*- mode: C++ -*-
00002  *
00003  *  Copyright (C) 2007, Mickey Ristroph
00004  *
00005  *  License: Modified BSD Software License Agreement
00006  *
00007  *  $Id: GraphSearch.h 435 2010-08-20 15:24:22Z jack.oquin $
00008  * 
00009  *  Graph search algorithms, for use by Commander, or whoever.
00010  */
00011 
00012 #ifndef __GRAPHSEARCH_h__
00013 #define __GRAPHSEARCH_h__
00014 
00015 #include <art_map/Graph.h>
00016 #include <art_map/types.h>
00017 #include <queue>
00018 #include <vector>
00019 #include <map>
00020 #include <iostream>
00021 
00022 namespace GraphSearch {
00023   WayPointEdgeList astar_search(const Graph& graph,
00024                                 waypt_index_t start_id,
00025                                 waypt_index_t goal_id, 
00026                                 float speedlimit=1.0);
00027 
00028   WayPointNodeList edge_list_to_node_list(const Graph& graph,
00029                                           WayPointEdgeList& edges);
00030 };
00031 
00032 #endif