jsk_footstep_planner::AStarSolver< GraphT > Class Template Reference

#include <astar_solver.h>

Inheritance diagram for jsk_footstep_planner::AStarSolver< GraphT >:

Public Types
typedef GraphT::Ptr	GraphPtr
typedef boost::function< double(SolverNodePtr, GraphPtr)>	HeuristicFunction
typedef boost::shared_ptr< AStarSolver >	Ptr
typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr
typedef GraphT::StateT	State
typedef GraphT::StateT::Ptr	StatePtr
Public Types inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
typedef GraphT::Ptr	GraphPtr
typedef std::priority_queue< SolverNodePtr, std::vector< SolverNodePtr >, std::greater< SolverNodePtr > >	OpenList
typedef boost::shared_ptr< BestFirstSearchSolver >	Ptr
typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr
typedef GraphT::StateT	State
typedef GraphT::StateT::Ptr	StatePtr
Public Types inherited from jsk_footstep_planner::Solver< GraphT >
typedef GraphT::Ptr	GraphPtr
typedef boost::shared_ptr< Solver >	Ptr
typedef boost::unordered_map< StatePtr, double >	SolveList
typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr
typedef GraphT::StateT	State
typedef GraphT::StateT::Ptr	StatePtr

Public Member Functions
	AStarSolver (GraphPtr graph)
virtual double	fn (SolverNodePtr n)
virtual double	gn (SolverNodePtr n)
virtual double	hn (SolverNodePtr n)
virtual void	setHeuristic (HeuristicFunction h)
Public Member Functions inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
virtual void	addToOpenList (SolverNodePtr node)
	BestFirstSearchSolver (GraphPtr graph)
virtual bool	isOpenListEmpty ()
virtual SolverNodePtr	popFromOpenList ()
Public Member Functions inherited from jsk_footstep_planner::Solver< GraphT >
virtual void	addToCloseList (StatePtr state, double cost=0)
virtual void	addToOpenList (std::vector< SolverNodePtr > nodes)
virtual bool	findInCloseList (StatePtr state)
virtual bool	findInCloseList (StatePtr state, double &cost)
virtual bool	isOK (const ros::WallTime &start_time, const ros::WallDuration &timeout)
virtual bool	removeFromCloseList (StatePtr state)
virtual void	setVerbose (bool v)
virtual std::vector< typename SolverNode< State, GraphT >::Ptr >	solve (const ros::WallDuration &timeout=ros::WallDuration(1000000000.0))
	Solver ()
	Solver (GraphPtr graph)

Protected Attributes
HeuristicFunction	heuristic_
Protected Attributes inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
OpenList	open_list_
Protected Attributes inherited from jsk_footstep_planner::Solver< GraphT >
SolveList	close_list_
GraphPtr	graph_
bool	verbose_

Detailed Description

template<class GraphT>
class jsk_footstep_planner::AStarSolver< GraphT >

Definition at line 45 of file astar_solver.h.

Member Typedef Documentation

GraphPtr

template<class GraphT>

typedef GraphT::Ptr jsk_footstep_planner::AStarSolver< GraphT >::GraphPtr

Definition at line 51 of file astar_solver.h.

HeuristicFunction

template<class GraphT>

typedef boost::function<double(SolverNodePtr, GraphPtr)> jsk_footstep_planner::AStarSolver< GraphT >::HeuristicFunction

Definition at line 53 of file astar_solver.h.

Ptr

template<class GraphT>

typedef boost::shared_ptr<AStarSolver> jsk_footstep_planner::AStarSolver< GraphT >::Ptr

Definition at line 48 of file astar_solver.h.

SolverNodePtr

template<class GraphT>

typedef SolverNode<State, GraphT>::Ptr jsk_footstep_planner::AStarSolver< GraphT >::SolverNodePtr

Definition at line 52 of file astar_solver.h.

State

template<class GraphT>

typedef GraphT::StateT jsk_footstep_planner::AStarSolver< GraphT >::State

Definition at line 50 of file astar_solver.h.

StatePtr

template<class GraphT>

typedef GraphT::StateT::Ptr jsk_footstep_planner::AStarSolver< GraphT >::StatePtr

Definition at line 49 of file astar_solver.h.

Constructor & Destructor Documentation

AStarSolver()

template<class GraphT>

jsk_footstep_planner::AStarSolver< GraphT >::AStarSolver ( GraphPtr  graph )

inline

Definition at line 55 of file astar_solver.h.

Member Function Documentation

fn()

template<class GraphT>

virtual double jsk_footstep_planner::AStarSolver< GraphT >::fn ( SolverNodePtr  n )

inlinevirtual

Reimplemented from jsk_footstep_planner::BestFirstSearchSolver< GraphT >.

Reimplemented in jsk_footstep_planner::FootstepAStarSolver< GraphT >.

Definition at line 56 of file astar_solver.h.

gn()

template<class GraphT>

virtual double jsk_footstep_planner::AStarSolver< GraphT >::gn ( SolverNodePtr  n )

inlinevirtual

Definition at line 61 of file astar_solver.h.

hn()

template<class GraphT>

virtual double jsk_footstep_planner::AStarSolver< GraphT >::hn ( SolverNodePtr  n )

inlinevirtual

Definition at line 66 of file astar_solver.h.

setHeuristic()

template<class GraphT>

virtual void jsk_footstep_planner::AStarSolver< GraphT >::setHeuristic ( HeuristicFunction  h )

inlinevirtual

Definition at line 71 of file astar_solver.h.

Member Data Documentation

heuristic_

template<class GraphT>

HeuristicFunction jsk_footstep_planner::AStarSolver< GraphT >::heuristic_

protected

Definition at line 75 of file astar_solver.h.

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The documentation for this class was generated from the following file:

• astar_solver.h