37 #ifndef JSK_FOOTSTEP_PLANNER_SOLVER_H_ 38 #define JSK_FOOTSTEP_PLANNER_SOLVER_H_ 42 #include <boost/unordered_map.hpp> 46 template <
class GraphT>
51 typedef typename GraphT::StateT
State;
55 typedef boost::unordered_map< StatePtr, double >
SolveList;
63 std::vector<typename SolverNode<State, GraphT>::Ptr>
73 if (
graph_->isGoal(target_node->getState())) {
74 std::vector<SolverNodePtr> result_path = target_node->getPathWithoutThis();
75 result_path.push_back(target_node);
85 return std::vector<SolverNodePtr>();
98 for (
size_t i = 0; i < nodes.size(); i++) {
108 .insert(
typename SolveList::value_type(state, cost));
117 typename SolveList::const_iterator it
127 typename SolveList::const_iterator it