grid_astar_model.h

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#ifndef PLANNER_CSPACE_GRID_ASTAR_MODEL_H
#define PLANNER_CSPACE_GRID_ASTAR_MODEL_H
 
#include <memory>
#include <vector>
 
#include <planner_cspace/cyclic_vec.h>
 
namespace planner_cspace
{
template <int DIM = 3, int NONCYCLIC = 2>
class GridAstarModelBase
{
public:
  using Ptr = typename std::shared_ptr<GridAstarModelBase<DIM, NONCYCLIC>>;
  using Vec = CyclicVecInt<DIM, NONCYCLIC>;
  using Vecf = CyclicVecFloat<DIM, NONCYCLIC>;
 
  class VecWithCost
  {
  public:
    Vec v_;
    float c_;
    explicit VecWithCost(const Vec& v, const float c = 0.0)
      : v_(v)
      , c_(c)
    {
    }
  };
 
  virtual float cost(
      const Vec& cur, const Vec& next, const std::vector<VecWithCost>& start, const Vec& goal) const = 0;
  virtual float costEstim(
      const Vec& cur, const Vec& next) const = 0;
  virtual const std::vector<Vec>& searchGrids(
      const Vec& cur, const std::vector<VecWithCost>& start, const Vec& goal) const = 0;
};
}  // namespace planner_cspace
 
#endif  // PLANNER_CSPACE_GRID_ASTAR_MODEL_H