Main Page
Namespaces
Classes
Files
File List
File Members
include
jsk_footstep_planner
depth_first_search_solver.h
Go to the documentation of this file.
1
// -*- mode: c++ -*-
2
/*********************************************************************
3
* Software License Agreement (BSD License)
4
*
5
* Copyright (c) 2015, JSK Lab
6
* All rights reserved.
7
*
8
* Redistribution and use in source and binary forms, with or without
9
* modification, are permitted provided that the following conditions
10
* are met:
11
*
12
* * Redistributions of source code must retain the above copyright
13
* notice, this list of conditions and the following disclaimer.
14
* * Redistributions in binary form must reproduce the above
15
* copyright notice, this list of conditions and the following
16
* disclaimer in the documentation and/o2r other materials provided
17
* with the distribution.
18
* * Neither the name of the JSK Lab nor the names of its
19
* contributors may be used to endorse or promote products derived
20
* from this software without specific prior written permission.
21
*
22
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33
* POSSIBILITY OF SUCH DAMAGE.
34
*********************************************************************/
35
36
37
#ifndef JSK_FOOTSTEP_PLANNER_DEPTH_FIRST_SEARCH_SOLVER_H_
38
#define JSK_FOOTSTEP_PLANNER_DEPTH_FIRST_SEARCH_SOLVER_H_
39
40
#include "
jsk_footstep_planner/solver.h
"
41
#include <stack>
42
43
namespace
jsk_footstep_planner
44
{
45
template
<
class
GraphT>
46
class
DepthFirstSearchSolver
:
public
Solver
<GraphT>
47
{
48
public
:
49
typedef
boost::shared_ptr<DepthFirstSearchSolver>
Ptr
;
50
typedef
typename
GraphT::StateT::Ptr
StatePtr
;
51
typedef
typename
GraphT::StateT
State
;
52
typedef
typename
GraphT::Ptr
GraphPtr
;
53
typedef
typename
SolverNode<State, GraphT>::Ptr
SolverNodePtr
;
54
55
DepthFirstSearchSolver
(GraphPtr
graph
):
Solver
<GraphT>(graph) {}
56
57
virtual
void
addToOpenList
(SolverNodePtr state)
58
{
59
open_list_
.push(state);
60
}
61
virtual
bool
isOpenListEmpty
()
62
{
63
return
open_list_
.empty();
64
}
65
66
virtual
SolverNodePtr
popFromOpenList
()
67
{
68
SolverNodePtr ret =
open_list_
.top();
69
open_list_
.pop();
70
return
ret;
71
}
72
protected
:
73
std::stack<SolverNodePtr>
open_list_
;
74
private
:
75
76
};
77
}
78
79
#endif
jsk_footstep_planner::DepthFirstSearchSolver::addToOpenList
virtual void addToOpenList(SolverNodePtr state)
Definition:
depth_first_search_solver.h:57
Solver
jsk_footstep_planner::DepthFirstSearchSolver::StatePtr
GraphT::StateT::Ptr StatePtr
Definition:
depth_first_search_solver.h:50
jsk_footstep_planner::DepthFirstSearchSolver::Ptr
boost::shared_ptr< DepthFirstSearchSolver > Ptr
Definition:
depth_first_search_solver.h:49
jsk_footstep_planner
Definition:
ann_grid.h:50
boost::shared_ptr
jsk_footstep_planner::DepthFirstSearchSolver
Definition:
depth_first_search_solver.h:46
jsk_footstep_planner::DepthFirstSearchSolver::popFromOpenList
virtual SolverNodePtr popFromOpenList()
Definition:
depth_first_search_solver.h:66
graph
FootstepGraph::Ptr graph
Definition:
footstep_planning_2d_interactive_demo.cpp:51
jsk_footstep_planner::DepthFirstSearchSolver::DepthFirstSearchSolver
DepthFirstSearchSolver(GraphPtr graph)
Definition:
depth_first_search_solver.h:55
jsk_footstep_planner::DepthFirstSearchSolver::SolverNodePtr
SolverNode< State, GraphT >::Ptr SolverNodePtr
Definition:
depth_first_search_solver.h:53
solver.h
jsk_footstep_planner::DepthFirstSearchSolver::GraphPtr
GraphT::Ptr GraphPtr
Definition:
depth_first_search_solver.h:52
jsk_footstep_planner::DepthFirstSearchSolver::isOpenListEmpty
virtual bool isOpenListEmpty()
Definition:
depth_first_search_solver.h:61
jsk_footstep_planner::DepthFirstSearchSolver::open_list_
std::stack< SolverNodePtr > open_list_
Definition:
depth_first_search_solver.h:73
jsk_footstep_planner::DepthFirstSearchSolver::State
GraphT::StateT State
Definition:
depth_first_search_solver.h:51
jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri May 14 2021 02:51:52