#include <solver.h>

Inheritance diagram for jsk_footstep_planner::Solver< GraphT >:

[legend]

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

Definition at line 53 of file solver.h.

template<class GraphT >

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

Definition at line 50 of file solver.h.

template<class GraphT >

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

Definition at line 55 of file solver.h.

template<class GraphT >

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

Definition at line 54 of file solver.h.

template<class GraphT >

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

Definition at line 51 of file solver.h.

template<class GraphT >

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

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`
	)

inlinevirtual

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 )

inlinevirtual

Definition at line 96 of file solver.h.

template<class GraphT >

virtual bool jsk_footstep_planner::Solver< GraphT >::findInCloseList ( StatePtr state )

inlinevirtual

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
	)

inlinevirtual

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
	)

inlinevirtual

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 )

inlinevirtual

Definition at line 125 of file solver.h.

template<class GraphT >

virtual void jsk_footstep_planner::Solver< GraphT >::setVerbose ( bool v )

inlinevirtual

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) )