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include
jsk_footstep_planner
astar_solver.h
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// -*- mode: c++ -*-
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2015, JSK Lab
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/o2r other materials provided
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* * Neither the name of the JSK Lab nor the names of its
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef JSK_FOOTSTEP_PLANNER_ASTAR_SOLVER_H_
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#define JSK_FOOTSTEP_PLANNER_ASTAR_SOLVER_H_
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#include "
jsk_footstep_planner/best_first_search_solver.h
"
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#include <boost/function.hpp>
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namespace
jsk_footstep_planner
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{
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template
<
class
GraphT>
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class
AStarSolver
:
public
BestFirstSearchSolver
<GraphT>
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{
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public
:
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typedef
boost::shared_ptr<AStarSolver>
Ptr
;
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typedef
typename
GraphT::StateT::Ptr
StatePtr
;
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typedef
typename
GraphT::StateT
State
;
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typedef
typename
GraphT::Ptr
GraphPtr
;
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typedef
typename
SolverNode<State, GraphT>::Ptr
SolverNodePtr
;
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typedef
typename
boost::function<double(SolverNodePtr, GraphPtr)>
HeuristicFunction
;
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AStarSolver
(GraphPtr
graph
):
BestFirstSearchSolver
<GraphT>(graph) {}
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virtual
double
fn
(SolverNodePtr n)
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{
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return
gn
(n) +
hn
(n);
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}
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virtual
double
gn
(SolverNodePtr n)
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{
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return
n->getCost();
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}
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virtual
double
hn
(SolverNodePtr n)
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{
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return
heuristic_
(n,
graph_
);
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}
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virtual
void
setHeuristic
(HeuristicFunction h) {
heuristic_
= h; }
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protected
:
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using
Solver<GraphT>::graph_
;
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HeuristicFunction
heuristic_
;
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private
:
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};
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}
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#endif
jsk_footstep_planner::AStarSolver::SolverNodePtr
SolverNode< State, GraphT >::Ptr SolverNodePtr
Definition:
astar_solver.h:52
jsk_footstep_planner::Solver::graph_
GraphPtr graph_
Definition:
solver.h:137
jsk_footstep_planner::AStarSolver::fn
virtual double fn(SolverNodePtr n)
Definition:
astar_solver.h:56
jsk_footstep_planner::AStarSolver::AStarSolver
AStarSolver(GraphPtr graph)
Definition:
astar_solver.h:55
jsk_footstep_planner::AStarSolver::hn
virtual double hn(SolverNodePtr n)
Definition:
astar_solver.h:66
jsk_footstep_planner::AStarSolver
Definition:
astar_solver.h:45
jsk_footstep_planner
Definition:
ann_grid.h:50
boost::shared_ptr
jsk_footstep_planner::AStarSolver::HeuristicFunction
boost::function< double(SolverNodePtr, GraphPtr)> HeuristicFunction
Definition:
astar_solver.h:53
jsk_footstep_planner::AStarSolver::State
GraphT::StateT State
Definition:
astar_solver.h:50
jsk_footstep_planner::AStarSolver::StatePtr
GraphT::StateT::Ptr StatePtr
Definition:
astar_solver.h:49
jsk_footstep_planner::AStarSolver::GraphPtr
GraphT::Ptr GraphPtr
Definition:
astar_solver.h:51
jsk_footstep_planner::AStarSolver::setHeuristic
virtual void setHeuristic(HeuristicFunction h)
Definition:
astar_solver.h:71
jsk_footstep_planner::AStarSolver::heuristic_
HeuristicFunction heuristic_
Definition:
astar_solver.h:75
graph
FootstepGraph::Ptr graph
Definition:
footstep_planning_2d_interactive_demo.cpp:51
jsk_footstep_planner::Solver
Definition:
solver.h:47
jsk_footstep_planner::AStarSolver::Ptr
boost::shared_ptr< AStarSolver > Ptr
Definition:
astar_solver.h:48
best_first_search_solver.h
jsk_footstep_planner::AStarSolver::gn
virtual double gn(SolverNodePtr n)
Definition:
astar_solver.h:61
jsk_footstep_planner::BestFirstSearchSolver
Definition:
best_first_search_solver.h:46
jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri May 14 2021 02:51:52