jsk_footstep_planner::SolverNode< StateT, GraphT > Class Template Reference

#include <solver_node.h>

Public Types
typedef GraphT::Ptr	GraphPtr
typedef boost::weak_ptr< GraphT >	GraphWeakPtr
typedef boost::shared_ptr< SolverNode >	Ptr
typedef boost::shared_ptr< StateT >	StatePtr

Public Member Functions
virtual std::vector< Ptr >	expand (Ptr this_ptr, bool verbose)
double	getCost () const
virtual Ptr	getParent () const
std::vector< SolverNode::Ptr >	getPathWithoutThis ()
double	getSortValue () const
virtual StatePtr	getState () const
bool	isRoot () const
void	setCost (double c)
void	setGraph (GraphPtr graph)
void	setSortValue (double v)
virtual void	setState (StatePtr state)
	SolverNode (StatePtr state, const double cost, Ptr parent, GraphPtr graph)
	SolverNode (StatePtr state, const double cost, GraphPtr graph)
virtual std::vector< Ptr >	wrapWithSolverNodes (Ptr this_ptr, std::vector< StatePtr > successors)

Protected Attributes
double	cost_
GraphWeakPtr	graph_
Ptr	parent_
double	sort_value_
StatePtr	state_

Friends
bool	operator< (const SolverNode< StateT, GraphT >::Ptr a, const SolverNode< StateT, GraphT >::Ptr b)
bool	operator> (const SolverNode< StateT, GraphT >::Ptr a, const SolverNode< StateT, GraphT >::Ptr b)

Detailed Description

template<class StateT, class GraphT>
class jsk_footstep_planner::SolverNode< StateT, GraphT >

Definition at line 50 of file solver_node.h.

Member Typedef Documentation

GraphPtr

template<class StateT, class GraphT>

typedef GraphT::Ptr jsk_footstep_planner::SolverNode< StateT, GraphT >::GraphPtr

Definition at line 55 of file solver_node.h.

GraphWeakPtr

template<class StateT, class GraphT>

typedef boost::weak_ptr<GraphT> jsk_footstep_planner::SolverNode< StateT, GraphT >::GraphWeakPtr

Definition at line 56 of file solver_node.h.

Ptr

template<class StateT, class GraphT>

typedef boost::shared_ptr<SolverNode> jsk_footstep_planner::SolverNode< StateT, GraphT >::Ptr

Definition at line 53 of file solver_node.h.

StatePtr

template<class StateT, class GraphT>

typedef boost::shared_ptr<StateT> jsk_footstep_planner::SolverNode< StateT, GraphT >::StatePtr

Definition at line 54 of file solver_node.h.

Constructor & Destructor Documentation

SolverNode() [1/2]

template<class StateT, class GraphT>

jsk_footstep_planner::SolverNode< StateT, GraphT >::SolverNode ( StatePtr  state, const double  cost, Ptr  parent, GraphPtr  graph  )

inline

Definition at line 59 of file solver_node.h.

SolverNode() [2/2]

template<class StateT, class GraphT>

jsk_footstep_planner::SolverNode< StateT, GraphT >::SolverNode ( StatePtr  state, const double  cost, GraphPtr  graph  )

inline

Definition at line 63 of file solver_node.h.

Member Function Documentation

expand()

template<class StateT, class GraphT>

virtual std::vector<Ptr> jsk_footstep_planner::SolverNode< StateT, GraphT >::expand ( Ptr  this_ptr, bool  verbose  )

inlinevirtual

Definition at line 87 of file solver_node.h.

getCost()

template<class StateT, class GraphT>

double jsk_footstep_planner::SolverNode< StateT, GraphT >::getCost ( ) const

inline

Definition at line 107 of file solver_node.h.

getParent()

template<class StateT, class GraphT>

virtual Ptr jsk_footstep_planner::SolverNode< StateT, GraphT >::getParent ( ) const

inlinevirtual

Definition at line 140 of file solver_node.h.

getPathWithoutThis()

template<class StateT, class GraphT>

std::vector<SolverNode::Ptr> jsk_footstep_planner::SolverNode< StateT, GraphT >::getPathWithoutThis ( )

inline

Definition at line 114 of file solver_node.h.

getSortValue()

template<class StateT, class GraphT>

double jsk_footstep_planner::SolverNode< StateT, GraphT >::getSortValue ( ) const

inline

Definition at line 108 of file solver_node.h.

getState()

template<class StateT, class GraphT>

virtual StatePtr jsk_footstep_planner::SolverNode< StateT, GraphT >::getState ( ) const

inlinevirtual

Definition at line 67 of file solver_node.h.

isRoot()

template<class StateT, class GraphT>

bool jsk_footstep_planner::SolverNode< StateT, GraphT >::isRoot ( ) const

inline

Definition at line 106 of file solver_node.h.

setCost()

template<class StateT, class GraphT>

void jsk_footstep_planner::SolverNode< StateT, GraphT >::setCost ( double  c )

inline

Definition at line 111 of file solver_node.h.

setGraph()

template<class StateT, class GraphT>

void jsk_footstep_planner::SolverNode< StateT, GraphT >::setGraph ( GraphPtr  graph )

inline

Definition at line 109 of file solver_node.h.

setSortValue()

template<class StateT, class GraphT>

void jsk_footstep_planner::SolverNode< StateT, GraphT >::setSortValue ( double  v )

inline

Definition at line 110 of file solver_node.h.

setState()

template<class StateT, class GraphT>

virtual void jsk_footstep_planner::SolverNode< StateT, GraphT >::setState ( StatePtr  state )

inlinevirtual

Definition at line 126 of file solver_node.h.

wrapWithSolverNodes()

template<class StateT, class GraphT>

virtual std::vector<Ptr> jsk_footstep_planner::SolverNode< StateT, GraphT >::wrapWithSolverNodes ( Ptr  this_ptr, std::vector< StatePtr >  successors  )

inlinevirtual

Definition at line 70 of file solver_node.h.

Friends And Related Function Documentation

operator<

template<class StateT, class GraphT>

bool operator< ( const SolverNode< StateT, GraphT >::Ptr  a, const SolverNode< StateT, GraphT >::Ptr  b  )

friend

Definition at line 128 of file solver_node.h.

operator>

template<class StateT, class GraphT>

bool operator> ( const SolverNode< StateT, GraphT >::Ptr  a, const SolverNode< StateT, GraphT >::Ptr  b  )

friend

Definition at line 134 of file solver_node.h.

Member Data Documentation

cost_

template<class StateT, class GraphT>

double jsk_footstep_planner::SolverNode< StateT, GraphT >::cost_

protected

Definition at line 143 of file solver_node.h.

graph_

template<class StateT, class GraphT>

GraphWeakPtr jsk_footstep_planner::SolverNode< StateT, GraphT >::graph_

protected

Definition at line 147 of file solver_node.h.

parent_

template<class StateT, class GraphT>

Ptr jsk_footstep_planner::SolverNode< StateT, GraphT >::parent_

protected

Definition at line 146 of file solver_node.h.

sort_value_

template<class StateT, class GraphT>

double jsk_footstep_planner::SolverNode< StateT, GraphT >::sort_value_

protected

Definition at line 144 of file solver_node.h.

state_

template<class StateT, class GraphT>

StatePtr jsk_footstep_planner::SolverNode< StateT, GraphT >::state_

protected

Definition at line 145 of file solver_node.h.

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

• solver_node.h