depth_first_search_solver.h

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// -*- mode: c++ -*-
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#ifndef JSK_FOOTSTEP_PLANNER_DEPTH_FIRST_SEARCH_SOLVER_H_
#define JSK_FOOTSTEP_PLANNER_DEPTH_FIRST_SEARCH_SOLVER_H_
 
#include "jsk_footstep_planner/solver.h"
#include <stack>
 
namespace jsk_footstep_planner
{
  template <class GraphT>
  class DepthFirstSearchSolver: public Solver<GraphT>
  {
  public:
    typedef boost::shared_ptr<DepthFirstSearchSolver> Ptr;
    typedef typename GraphT::StateT::Ptr StatePtr;
    typedef typename GraphT::StateT State;
    typedef typename GraphT::Ptr GraphPtr;
    typedef typename SolverNode<State, GraphT>::Ptr SolverNodePtr;
    
    DepthFirstSearchSolver(GraphPtr graph): Solver<GraphT>(graph) {}
    
    virtual void addToOpenList(SolverNodePtr state)
    {
      open_list_.push(state);
    }
    virtual bool isOpenListEmpty()
    {
      return open_list_.empty();
    }
 
    virtual SolverNodePtr popFromOpenList()
    {
      SolverNodePtr ret = open_list_.top();
      open_list_.pop();
      return ret;
    }
  protected:
    std::stack<SolverNodePtr> open_list_;
  private:
    
  };
}
 
#endif