.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_debug_debug_Planner.hpp:

Program Listing for File debug_Planner.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_agv_debug_debug_Planner.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/agv/debug/debug_Planner.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2020 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_TRAFFIC__AGV__DEBUG__DEBUG_PLANNER_HPP
   #define RMF_TRAFFIC__AGV__DEBUG__DEBUG_PLANNER_HPP
   
   #include <rmf_traffic/agv/Planner.hpp>
   
   #include <queue>
   
   namespace rmf_traffic {
   namespace agv {
   
   //==============================================================================
   class Planner::Debug
   {
   public:
   
     struct Node;
     using ConstNodePtr = std::shared_ptr<const Node>;
   
     struct Node
     {
       ConstNodePtr parent;
   
       std::vector<Route> route_from_parent;
   
       double remaining_cost_estimate;
   
       double current_cost;
   
       rmf_utils::optional<std::size_t> waypoint;
   
       double orientation;
   
       agv::Graph::Lane::EventPtr event;
   
       rmf_utils::optional<std::size_t> start_set_index;
   
       std::size_t id;
   
       struct Compare
       {
         bool operator()(const ConstNodePtr& a, const ConstNodePtr& b)
         {
           return b->current_cost + b->remaining_cost_estimate
             < a->current_cost + a->remaining_cost_estimate;
         }
       };
   
       using SearchQueue =
         std::priority_queue<ConstNodePtr, std::vector<ConstNodePtr>, Compare>;
   
       using Vector = std::vector<ConstNodePtr>;
     };
   
     class Progress
     {
     public:
   
       rmf_utils::optional<Plan> step();
   
       operator bool() const
       {
         return !queue().empty();
       }
   
       const Node::SearchQueue& queue() const;
   
       const Node::Vector& expanded_nodes() const;
   
       const Node::Vector& terminal_nodes() const;
   
       class Implementation;
     private:
       Progress();
       rmf_utils::unique_impl_ptr<Implementation> _pimpl;
     };
   
     Debug(const Planner& planner);
   
     Progress begin(
       const std::vector<Start>& starts,
       Goal goal,
       Options options) const;
   
     static std::size_t queue_size(const Planner::Result& result);
   
     static std::size_t expansion_count(const Planner::Result& result);
   
     static std::size_t node_count(const Planner::Result& result);
   
     class Implementation;
   private:
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   
   } // namespace agv
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__AGV__DEBUG__DEBUG_PLANNER_HPP