#include <grid_astar_solver.h>

Inheritance diagram for jsk_footstep_planner::GridAStarSolver< GraphT >:

Public Types
typedef GraphT::Ptr	GraphPtr

typedef std::vector< typename SolverNode< State, GraphT >::Ptr >	Path

typedef boost::shared_ptr< GridAStarSolver >	Ptr

typedef boost::unordered_map< StatePtr, SolverNodePtr >	SolveList

typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr

typedef GraphT::StateT	State

typedef GraphT::StateT::Ptr	StatePtr

Public Types inherited from jsk_footstep_planner::AStarSolver< GraphT >
typedef GraphT::Ptr	GraphPtr

typedef boost::function< double(SolverNodePtr, GraphPtr)>	HeuristicFunction

typedef boost::shared_ptr< AStarSolver >	Ptr

typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr

typedef GraphT::StateT	State

typedef GraphT::StateT::Ptr	StatePtr

Public Types inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
typedef GraphT::Ptr	GraphPtr

typedef std::priority_queue< SolverNodePtr, std::vector< SolverNodePtr >, std::greater< SolverNodePtr > >	OpenList

typedef boost::shared_ptr< BestFirstSearchSolver >	Ptr

typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr

typedef GraphT::StateT	State

typedef GraphT::StateT::Ptr	StatePtr

Public Types inherited from jsk_footstep_planner::Solver< GraphT >
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 (SolverNodePtr node)

virtual void	addToOpenList (SolverNodePtr node)

virtual bool	findInCloseList (SolverNodePtr node, double &cost)

virtual bool	findInOpenList (SolverNodePtr node, double &cost)

virtual bool	getCloseList (std::vector< StatePtr > &lst, std::vector< float > &cost)

virtual bool	getOpenList (std::vector< StatePtr > &lst, std::vector< float > &cost)

	GridAStarSolver (GraphPtr graph)

virtual bool	isOpenListEmpty ()

virtual SolverNodePtr	popFromOpenList ()

virtual bool	removeFromCloseList (SolverNodePtr node)

virtual bool	removeFromOpenList (SolverNodePtr node)

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

Public Member Functions inherited from jsk_footstep_planner::AStarSolver< GraphT >
	AStarSolver (GraphPtr graph)

virtual double	fn (SolverNodePtr n)

virtual double	gn (SolverNodePtr n)

virtual double	hn (SolverNodePtr n)

virtual void	setHeuristic (HeuristicFunction h)

Public Member Functions inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
	BestFirstSearchSolver (GraphPtr graph)

Public Member Functions inherited from jsk_footstep_planner::Solver< GraphT >
virtual void	addToCloseList (StatePtr state, double cost=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	removeFromCloseList (StatePtr state)

virtual void	setVerbose (bool v)

	Solver ()

	Solver (GraphPtr graph)

Protected Attributes
SolveList	open_list_map_

Protected Attributes inherited from jsk_footstep_planner::AStarSolver< GraphT >
HeuristicFunction	heuristic_

Protected Attributes inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
OpenList	open_list_

Protected Attributes inherited from jsk_footstep_planner::Solver< GraphT >
SolveList	close_list_

GraphPtr	graph_

bool	verbose_

Detailed Description

template<class GraphT>
class jsk_footstep_planner::GridAStarSolver< GraphT >

Definition at line 11 of file grid_astar_solver.h.

Member Typedef Documentation

template<class GraphT >

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

Definition at line 17 of file grid_astar_solver.h.

template<class GraphT >

typedef std::vector<typename SolverNode<State, GraphT>::Ptr> jsk_footstep_planner::GridAStarSolver< GraphT >::Path

Definition at line 19 of file grid_astar_solver.h.

template<class GraphT >

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

Definition at line 14 of file grid_astar_solver.h.

template<class GraphT >

typedef boost::unordered_map< StatePtr, SolverNodePtr > jsk_footstep_planner::GridAStarSolver< GraphT >::SolveList

Definition at line 20 of file grid_astar_solver.h.

template<class GraphT >

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

Definition at line 18 of file grid_astar_solver.h.

template<class GraphT >

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

Definition at line 15 of file grid_astar_solver.h.

template<class GraphT >

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

Definition at line 16 of file grid_astar_solver.h.

Constructor & Destructor Documentation

template<class GraphT >

jsk_footstep_planner::GridAStarSolver< GraphT >::GridAStarSolver ( GraphPtr graph )

inline

Definition at line 22 of file grid_astar_solver.h.

Member Function Documentation

template<class GraphT >

virtual void jsk_footstep_planner::GridAStarSolver< GraphT >::addToCloseList ( SolverNodePtr node )

inlinevirtual

Definition at line 146 of file grid_astar_solver.h.

template<class GraphT >

virtual void jsk_footstep_planner::GridAStarSolver< GraphT >::addToOpenList ( SolverNodePtr node )

inlinevirtual

Reimplemented from jsk_footstep_planner::BestFirstSearchSolver< GraphT >.

Definition at line 111 of file grid_astar_solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::GridAStarSolver< GraphT >::findInCloseList	(	SolverNodePtr	node,
		double &	cost
	)

inlinevirtual

Definition at line 155 of file grid_astar_solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::GridAStarSolver< GraphT >::findInOpenList	(	SolverNodePtr	node,
		double &	cost
	)

inlinevirtual

Definition at line 123 of file grid_astar_solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::GridAStarSolver< GraphT >::getCloseList	(	std::vector< StatePtr > &	lst,
		std::vector< float > &	cost
	)

inlinevirtual

Definition at line 168 of file grid_astar_solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::GridAStarSolver< GraphT >::getOpenList	(	std::vector< StatePtr > &	lst,
		std::vector< float > &	cost
	)

inlinevirtual

Definition at line 164 of file grid_astar_solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::GridAStarSolver< GraphT >::isOpenListEmpty ( )

inlinevirtual

Reimplemented from jsk_footstep_planner::BestFirstSearchSolver< GraphT >.

Definition at line 87 of file grid_astar_solver.h.

template<class GraphT >

virtual SolverNodePtr jsk_footstep_planner::GridAStarSolver< GraphT >::popFromOpenList ( )

inlinevirtual

Reimplemented from jsk_footstep_planner::BestFirstSearchSolver< GraphT >.

Definition at line 91 of file grid_astar_solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::GridAStarSolver< GraphT >::removeFromCloseList ( SolverNodePtr node )

inlinevirtual

Definition at line 159 of file grid_astar_solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::GridAStarSolver< GraphT >::removeFromOpenList ( SolverNodePtr node )

inlinevirtual

Definition at line 133 of file grid_astar_solver.h.

template<class GraphT >

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