astar_solver.h

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// -*- mode: c++ -*-
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#ifndef JSK_FOOTSTEP_PLANNER_ASTAR_SOLVER_H_
#define JSK_FOOTSTEP_PLANNER_ASTAR_SOLVER_H_

#include "jsk_footstep_planner/best_first_search_solver.h"
#include <boost/function.hpp>
namespace jsk_footstep_planner
{
  template <class GraphT>
  class AStarSolver: public BestFirstSearchSolver<GraphT>
  {
  public:
    typedef boost::shared_ptr<AStarSolver> Ptr;
    typedef typename GraphT::StateT::Ptr StatePtr;
    typedef typename GraphT::StateT State;
    typedef typename GraphT::Ptr GraphPtr;
    typedef typename SolverNode<State, GraphT>::Ptr SolverNodePtr;
    typedef typename boost::function<double(SolverNodePtr, GraphPtr)> HeuristicFunction;
    
    AStarSolver(GraphPtr graph): BestFirstSearchSolver<GraphT>(graph) {}
    virtual double fn(SolverNodePtr n)
    {
      return gn(n) + hn(n);
    }

    virtual double gn(SolverNodePtr n)
    {
      return n->getCost();
    }

    virtual double hn(SolverNodePtr n)
    {
      return heuristic_(n, graph_);
    }

    virtual void setHeuristic(HeuristicFunction h) { heuristic_ = h; }
    
  protected:
    using Solver<GraphT>::graph_;
    HeuristicFunction heuristic_;
    
  private:
    
  };
}

#endif