#include <solver.h>

Inheritance diagram for jsk_footstep_planner::Solver< GraphT >:

Public Types
typedef GraphT::Ptr	GraphPtr
typedef boost::shared_ptr< Solver >	Ptr
typedef boost::unordered_map < StatePtr, double >	SolveList
typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr
typedef GraphT::StateT	State
typedef GraphT::StateT::Ptr	StatePtr
Public Member Functions
virtual void	addToCloseList (StatePtr state, double cost=0)
virtual void	addToOpenList (SolverNodePtr node)=0
virtual void	addToOpenList (std::vector< SolverNodePtr > nodes)
virtual bool	findInCloseList (StatePtr state)
virtual bool	findInCloseList (StatePtr state, double &cost)
virtual bool	isOK (const ros::WallTime &start_time, const ros::WallDuration &timeout)
virtual bool	isOpenListEmpty ()=0
virtual SolverNodePtr	popFromOpenList ()=0
virtual bool	removeFromCloseList (StatePtr state)
virtual void	setVerbose (bool v)
virtual std::vector< typename SolverNode< State, GraphT > ::Ptr >	solve (const ros::WallDuration &timeout=ros::WallDuration(1000000000.0))
	Solver ()
	Solver (GraphPtr graph)
Protected Attributes
SolveList	close_list_
GraphPtr	graph_
bool	verbose_

Detailed Description

template<class GraphT>
class jsk_footstep_planner::Solver< GraphT >

Definition at line 47 of file solver.h.

Member Typedef Documentation

template<class GraphT >

typedef GraphT::Ptr jsk_footstep_planner::Solver< GraphT >::GraphPtr

Reimplemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >, jsk_footstep_planner::BestFirstSearchSolver< GraphT >, jsk_footstep_planner::BreadthFirstSearchSolver< GraphT >, jsk_footstep_planner::DepthFirstSearchSolver< GraphT >, jsk_footstep_planner::AStarSolver< GraphT >, and jsk_footstep_planner::GridAStarSolver< GraphT >.

Definition at line 53 of file solver.h.

template<class GraphT >

typedef boost::shared_ptr<Solver> jsk_footstep_planner::Solver< GraphT >::Ptr

Reimplemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >, jsk_footstep_planner::BestFirstSearchSolver< GraphT >, jsk_footstep_planner::BreadthFirstSearchSolver< GraphT >, jsk_footstep_planner::DepthFirstSearchSolver< GraphT >, jsk_footstep_planner::AStarSolver< GraphT >, and jsk_footstep_planner::GridAStarSolver< GraphT >.

Definition at line 50 of file solver.h.

template<class GraphT >

typedef boost::unordered_map< StatePtr, double > jsk_footstep_planner::Solver< GraphT >::SolveList

Reimplemented in jsk_footstep_planner::GridAStarSolver< GraphT >.

Definition at line 55 of file solver.h.

template<class GraphT >

typedef SolverNode<State, GraphT>::Ptr jsk_footstep_planner::Solver< GraphT >::SolverNodePtr

Reimplemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >, jsk_footstep_planner::BestFirstSearchSolver< GraphT >, jsk_footstep_planner::BreadthFirstSearchSolver< GraphT >, jsk_footstep_planner::DepthFirstSearchSolver< GraphT >, jsk_footstep_planner::AStarSolver< GraphT >, and jsk_footstep_planner::GridAStarSolver< GraphT >.

Definition at line 54 of file solver.h.

template<class GraphT >

typedef GraphT::StateT jsk_footstep_planner::Solver< GraphT >::State

Reimplemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >, jsk_footstep_planner::BestFirstSearchSolver< GraphT >, jsk_footstep_planner::BreadthFirstSearchSolver< GraphT >, jsk_footstep_planner::DepthFirstSearchSolver< GraphT >, jsk_footstep_planner::AStarSolver< GraphT >, and jsk_footstep_planner::GridAStarSolver< GraphT >.

Definition at line 51 of file solver.h.

template<class GraphT >

typedef GraphT::StateT::Ptr jsk_footstep_planner::Solver< GraphT >::StatePtr

Reimplemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >, jsk_footstep_planner::BestFirstSearchSolver< GraphT >, jsk_footstep_planner::BreadthFirstSearchSolver< GraphT >, jsk_footstep_planner::DepthFirstSearchSolver< GraphT >, jsk_footstep_planner::AStarSolver< GraphT >, and jsk_footstep_planner::GridAStarSolver< GraphT >.

Definition at line 52 of file solver.h.

Constructor & Destructor Documentation

template<class GraphT >

jsk_footstep_planner::Solver< GraphT >::Solver ( ) [inline]

Definition at line 57 of file solver.h.

template<class GraphT >

jsk_footstep_planner::Solver< GraphT >::Solver ( GraphPtr graph ) [inline]

Definition at line 58 of file solver.h.

Member Function Documentation

template<class GraphT >

virtual void jsk_footstep_planner::Solver< GraphT >::addToCloseList	(	StatePtr	state,
		double	cost = `0`
	)		`[inline, virtual]`

Definition at line 103 of file solver.h.

template<class GraphT >

virtual void jsk_footstep_planner::Solver< GraphT >::addToOpenList ( SolverNodePtr node ) [pure virtual]

Implemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >, jsk_footstep_planner::GridAStarSolver< GraphT >, jsk_footstep_planner::BestFirstSearchSolver< GraphT >, jsk_footstep_planner::BreadthFirstSearchSolver< GraphT >, and jsk_footstep_planner::DepthFirstSearchSolver< GraphT >.

template<class GraphT >

virtual void jsk_footstep_planner::Solver< GraphT >::addToOpenList ( std::vector< SolverNodePtr > nodes ) [inline, virtual]

Definition at line 96 of file solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::Solver< GraphT >::findInCloseList ( StatePtr state ) [inline, virtual]

Reimplemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >.

Definition at line 110 of file solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::Solver< GraphT >::findInCloseList	(	StatePtr	state,
		double &	cost
	)		`[inline, virtual]`

Definition at line 114 of file solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::Solver< GraphT >::isOK	(	const ros::WallTime &	start_time,
		const ros::WallDuration &	timeout
	)		`[inline, virtual]`

Reimplemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >.

Definition at line 88 of file solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::Solver< GraphT >::isOpenListEmpty ( ) [pure virtual]

Implemented in jsk_footstep_planner::GridAStarSolver< GraphT >, jsk_footstep_planner::BestFirstSearchSolver< GraphT >, jsk_footstep_planner::BreadthFirstSearchSolver< GraphT >, and jsk_footstep_planner::DepthFirstSearchSolver< GraphT >.

template<class GraphT >

virtual SolverNodePtr jsk_footstep_planner::Solver< GraphT >::popFromOpenList ( ) [pure virtual]

Implemented in jsk_footstep_planner::GridAStarSolver< GraphT >, jsk_footstep_planner::BestFirstSearchSolver< GraphT >, jsk_footstep_planner::BreadthFirstSearchSolver< GraphT >, and jsk_footstep_planner::DepthFirstSearchSolver< GraphT >.

template<class GraphT >

virtual bool jsk_footstep_planner::Solver< GraphT >::removeFromCloseList ( StatePtr state ) [inline, virtual]

Definition at line 125 of file solver.h.

template<class GraphT >

virtual void jsk_footstep_planner::Solver< GraphT >::setVerbose ( bool v ) [inline, virtual]

Definition at line 60 of file solver.h.

template<class GraphT >

virtual std::vector<typename SolverNode<State, GraphT>::Ptr> jsk_footstep_planner::Solver< GraphT >::solve ( const ros::WallDuration & timeout = ros::WallDuration(1000000000.0) ) [inline, virtual]