planner_2dof_serial_joints/grid_astar_model.h

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#ifndef PLANNER_CSPACE_PLANNER_2DOF_SERIAL_JOINTS_GRID_ASTAR_MODEL_H
#define PLANNER_CSPACE_PLANNER_2DOF_SERIAL_JOINTS_GRID_ASTAR_MODEL_H

#include <memory>
#include <utility>
#include <vector>

#include <planner_cspace/cyclic_vec.h>
#include <planner_cspace/grid_astar_model.h>
#include <planner_cspace/blockmem_gridmap.h>

namespace planner_cspace
{
namespace planner_2dof_serial_joints
{
class CostCoeff
{
public:
  float weight_cost_;
  float expand_;
};

class GridAstarModel2DoFSerialJoint : public GridAstarModelBase<2, 0>
{
public:
  using Ptr = std::shared_ptr<GridAstarModel2DoFSerialJoint>;
  using ConstPtr = std::shared_ptr<const GridAstarModel2DoFSerialJoint>;
  using Vec = CyclicVecInt<2, 0>;
  using Vecf = CyclicVecFloat<2, 0>;

protected:
  std::vector<Vec> search_list_;
  Vecf euclid_cost_coef_;
  int resolution_;
  BlockMemGridmapBase<char, 2, 0>& cm_;
  CostCoeff cc_;
  int range_;

public:
  GridAstarModel2DoFSerialJoint(
      const Vecf& euclid_cost_coef,
      const int resolution,
      BlockMemGridmapBase<char, 2, 0>& cm,
      const CostCoeff& cc,
      const int range);
  float euclidCost(const Vec& v) const;
  float cost(
      const Vec& cur, const Vec& next, const std::vector<VecWithCost>& start, const Vec& goal) const override;
  float costEstim(
      const Vec& cur, const Vec& goal) const override;
  const std::vector<Vec>& searchGrids(
      const Vec& p,
      const std::vector<VecWithCost>& ss,
      const Vec& es) const override;
};
}  // namespace planner_2dof_serial_joints
}  // namespace planner_cspace

#endif  // PLANNER_CSPACE_PLANNER_2DOF_SERIAL_JOINTS_GRID_ASTAR_MODEL_H