astar_solver.h
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 
00037 #ifndef JSK_FOOTSTEP_PLANNER_ASTAR_SOLVER_H_
00038 #define JSK_FOOTSTEP_PLANNER_ASTAR_SOLVER_H_
00039 
00040 #include "jsk_footstep_planner/best_first_search_solver.h"
00041 #include <boost/function.hpp>
00042 namespace jsk_footstep_planner
00043 {
00044   template <class GraphT>
00045   class AStarSolver: public BestFirstSearchSolver<GraphT>
00046   {
00047   public:
00048     typedef boost::shared_ptr<AStarSolver> Ptr;
00049     typedef typename GraphT::StateT::Ptr StatePtr;
00050     typedef typename GraphT::StateT State;
00051     typedef typename GraphT::Ptr GraphPtr;
00052     typedef typename SolverNode<State, GraphT>::Ptr SolverNodePtr;
00053     typedef typename boost::function<double(SolverNodePtr, GraphPtr)> HeuristicFunction;
00054     
00055     AStarSolver(GraphPtr graph): BestFirstSearchSolver<GraphT>(graph) {}
00056     virtual double fn(SolverNodePtr n)
00057     {
00058       return gn(n) + hn(n);
00059     }
00060 
00061     virtual double gn(SolverNodePtr n)
00062     {
00063       return n->getCost();
00064     }
00065 
00066     virtual double hn(SolverNodePtr n)
00067     {
00068       return heuristic_(n, graph_);
00069     }
00070 
00071     virtual void setHeuristic(HeuristicFunction h) { heuristic_ = h; }
00072     
00073   protected:
00074     using Solver<GraphT>::graph_;
00075     HeuristicFunction heuristic_;
00076     
00077   private:
00078     
00079   };
00080 }
00081 
00082 #endif


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:37:56