depth_first_search_solver.h
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35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_DEPTH_FIRST_SEARCH_SOLVER_H_
38 #define JSK_FOOTSTEP_PLANNER_DEPTH_FIRST_SEARCH_SOLVER_H_
39 
41 #include <stack>
42 
43 namespace jsk_footstep_planner
44 {
45  template <class GraphT>
46  class DepthFirstSearchSolver: public Solver<GraphT>
47  {
48  public:
50  typedef typename GraphT::StateT::Ptr StatePtr;
51  typedef typename GraphT::StateT State;
52  typedef typename GraphT::Ptr GraphPtr;
54 
55  DepthFirstSearchSolver(GraphPtr graph): Solver<GraphT>(graph) {}
56 
57  virtual void addToOpenList(SolverNodePtr state)
58  {
59  open_list_.push(state);
60  }
61  virtual bool isOpenListEmpty()
62  {
63  return open_list_.empty();
64  }
65 
66  virtual SolverNodePtr popFromOpenList()
67  {
68  SolverNodePtr ret = open_list_.top();
69  open_list_.pop();
70  return ret;
71  }
72  protected:
73  std::stack<SolverNodePtr> open_list_;
74  private:
75 
76  };
77 }
78 
79 #endif
boost::shared_ptr< DepthFirstSearchSolver > Ptr
FootstepGraph::Ptr graph


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Sun May 28 2023 03:03:19