shortest_path.h

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/*
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#ifndef OCCUPANCY_GRID_UTILS_SHORTEST_PATH_H
#define OCCUPANCY_GRID_UTILS_SHORTEST_PATH_H

#include <occupancy_grid_utils/coordinate_conversions.h>
#include <occupancy_grid_utils/NavigationFunction.h>
#include <boost/shared_ptr.hpp>
#include <boost/optional.hpp>
#include <set>

namespace occupancy_grid_utils
{

/************************************************************
 * Obstacle inflation
 ************************************************************/

nav_msgs::OccupancyGrid::Ptr inflateObstacles (const nav_msgs::OccupancyGrid& g,
                                               double r,
                                               bool allow_unknown=false);


/************************************************************
 * Shortest paths
 ************************************************************/

struct ShortestPathResult;
typedef boost::shared_ptr<ShortestPathResult> ResultPtr;
typedef std::set<Cell> Cells;
typedef std::vector<Cell> Path;
typedef std::pair<Path, double> AStarResult;


struct TerminationCondition
{
  TerminationCondition ();
  TerminationCondition (double max_distance, bool use_cells=true);
  TerminationCondition (const Cells& goals);
  TerminationCondition (const Cells& goals, const double max_distance,
                        bool use_cells = true);

  boost::optional<double> max_distance_;
  boost::optional<std::set<Cell> > goals_;
  bool use_cells_;
};

ResultPtr singleSourceShortestPaths (const nav_msgs::OccupancyGrid& g, const Cell& src,
                                     bool manhattan=false);


ResultPtr singleSourceShortestPaths (const nav_msgs::OccupancyGrid& g, const Cell& src,
                                     const TerminationCondition& term,
                                     bool manhattan=false);

boost::optional<Path> extractPath (ResultPtr shortest_path_result, const Cell& dest);

boost::optional<double> distance(ResultPtr shortest_path_result, const Cell& dest);

boost::optional<double> distanceTo(ResultPtr shortest_path_result, const Cell& dest);


boost::optional<double> distance(ResultPtr shortest_path_result, const Cell& dest);

ResultPtr shortestPathResultFromMessage (const NavigationFunction& msg);

NavigationFunction shortestPathResultToMessage (ResultPtr res);


boost::optional<AStarResult> shortestPath(const nav_msgs::OccupancyGrid& g,
                                          const Cell& src, const Cell& dest);

boost::optional<AStarResult> shortestPathAStar(const nav_msgs::OccupancyGrid& g,
                                               const Cell& src, const Cell& dest);


} // namespace

#endif // include guard