jsk_footstep_planner::Graph< StateT_ > Class Template Reference

#include <graph.h>

Public Types
typedef boost::shared_ptr< Graph >	Ptr
typedef boost::shared_ptr< StateT >	StatePtr
typedef StateT_	StateT

Public Member Functions
virtual void	addNode (StatePtr state)
virtual StatePtr	getGoalState ()
virtual StatePtr	getStartState ()
	Graph ()
virtual bool	isGoal (StatePtr state)=0
virtual size_t	numNodes ()
virtual double	pathCost (StatePtr from, StatePtr to, double prev_cost)
virtual void	setGoalState (StatePtr goal)
virtual void	setStartState (StatePtr start)
virtual std::vector< StatePtr >	successors (StatePtr target_state)=0

Protected Attributes
StatePtr	goal_state_
std::vector< StatePtr >	nodes_
StatePtr	start_state_

Detailed Description

template<class StateT_>
class jsk_footstep_planner::Graph< StateT_ >

Definition at line 46 of file graph.h.

Member Typedef Documentation

Ptr

template<class StateT_>

typedef boost::shared_ptr<Graph> jsk_footstep_planner::Graph< StateT_ >::Ptr

Definition at line 49 of file graph.h.

StatePtr

template<class StateT_>

typedef boost::shared_ptr<StateT> jsk_footstep_planner::Graph< StateT_ >::StatePtr

Definition at line 51 of file graph.h.

StateT

template<class StateT_>

typedef StateT_ jsk_footstep_planner::Graph< StateT_ >::StateT

Definition at line 50 of file graph.h.

Constructor & Destructor Documentation

Graph()

template<class StateT_>

jsk_footstep_planner::Graph< StateT_ >::Graph ( )

inline

Definition at line 52 of file graph.h.

Member Function Documentation

addNode()

template<class StateT_>

virtual void jsk_footstep_planner::Graph< StateT_ >::addNode ( StatePtr  state )

inlinevirtual

Reimplemented in Grid2DGraph.

Definition at line 59 of file graph.h.

getGoalState()

template<class StateT_>

virtual StatePtr jsk_footstep_planner::Graph< StateT_ >::getGoalState ( )

inlinevirtual

Definition at line 57 of file graph.h.

getStartState()

template<class StateT_>

virtual StatePtr jsk_footstep_planner::Graph< StateT_ >::getStartState ( )

inlinevirtual

Definition at line 56 of file graph.h.

isGoal()

template<class StateT_>

virtual bool jsk_footstep_planner::Graph< StateT_ >::isGoal ( StatePtr  state )

pure virtual

Implemented in jsk_footstep_planner::GridGraph< GStateT >, Grid2DGraph, and jsk_footstep_planner::SimpleNeighboredGraph.

numNodes()

template<class StateT_>

virtual size_t jsk_footstep_planner::Graph< StateT_ >::numNodes ( )

inlinevirtual

Definition at line 60 of file graph.h.

pathCost()

template<class StateT_>

virtual double jsk_footstep_planner::Graph< StateT_ >::pathCost ( StatePtr  from, StatePtr  to, double  prev_cost  )

inlinevirtual

Reimplemented in jsk_footstep_planner::GridGraph< GStateT >, Grid2DGraph, jsk_footstep_planner::FootstepGraph, and jsk_footstep_planner::SimpleNeighboredGraph.

Definition at line 62 of file graph.h.

setGoalState()

template<class StateT_>

virtual void jsk_footstep_planner::Graph< StateT_ >::setGoalState ( StatePtr  goal )

inlinevirtual

Definition at line 54 of file graph.h.

setStartState()

template<class StateT_>

virtual void jsk_footstep_planner::Graph< StateT_ >::setStartState ( StatePtr  start )

inlinevirtual

Definition at line 53 of file graph.h.

successors()

template<class StateT_>

virtual std::vector<StatePtr> jsk_footstep_planner::Graph< StateT_ >::successors ( StatePtr  target_state )

pure virtual

Implemented in jsk_footstep_planner::GridGraph< GStateT >, jsk_footstep_planner::FootstepGraph, jsk_footstep_planner::SimpleNeighboredGraph, and Grid2DGraph.

Member Data Documentation

goal_state_

template<class StateT_>

StatePtr jsk_footstep_planner::Graph< StateT_ >::goal_state_

protected

Definition at line 71 of file graph.h.

nodes_

template<class StateT_>

std::vector<StatePtr> jsk_footstep_planner::Graph< StateT_ >::nodes_

protected

Definition at line 72 of file graph.h.

start_state_

template<class StateT_>

StatePtr jsk_footstep_planner::Graph< StateT_ >::start_state_

protected

Definition at line 70 of file graph.h.

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

• graph.h