grid_astar_model.h
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29 
30 #ifndef PLANNER_CSPACE_GRID_ASTAR_MODEL_H
31 #define PLANNER_CSPACE_GRID_ASTAR_MODEL_H
32 
33 #include <memory>
34 #include <vector>
35 
37 
38 namespace planner_cspace
39 {
40 template <int DIM = 3, int NONCYCLIC = 2>
42 {
43 public:
44  using Ptr = typename std::shared_ptr<GridAstarModelBase<DIM, NONCYCLIC>>;
47 
49  {
50  public:
52  float c_;
53  explicit VecWithCost(const Vec& v, const float c = 0.0)
54  : v_(v)
55  , c_(c)
56  {
57  }
58  };
59 
60  virtual float cost(
61  const Vec& cur, const Vec& next, const std::vector<VecWithCost>& start, const Vec& goal) const = 0;
62  virtual float costEstim(
63  const Vec& cur, const Vec& next) const = 0;
64  virtual const std::vector<Vec>& searchGrids(
65  const Vec& cur, const std::vector<VecWithCost>& start, const Vec& goal) const = 0;
66 };
67 } // namespace planner_cspace
68 
69 #endif // PLANNER_CSPACE_GRID_ASTAR_MODEL_H
virtual const std::vector< Vec > & searchGrids(const Vec &cur, const std::vector< VecWithCost > &start, const Vec &goal) const =0
virtual float costEstim(const Vec &cur, const Vec &next) const =0
typename std::shared_ptr< GridAstarModelBase< DIM, NONCYCLIC >> Ptr
VecWithCost(const Vec &v, const float c=0.0)
virtual float cost(const Vec &cur, const Vec &next, const std::vector< VecWithCost > &start, const Vec &goal) const =0


planner_cspace
Author(s): Atsushi Watanabe
autogenerated on Wed May 12 2021 02:20:42