best_first_search_solver.h

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// -*- mode: c++ -*-
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#ifndef JSK_FOOTSTEP_PLANNER_BEST_FIRST_SEARCH_SOLVER_H_
#define JSK_FOOTSTEP_PLANNER_BEST_FIRST_SEARCH_SOLVER_H_

#include "jsk_footstep_planner/solver.h"
#include <queue>

namespace jsk_footstep_planner
{
  template <class GraphT>
  class BestFirstSearchSolver: public Solver<GraphT>
  {
  public:
    typedef boost::shared_ptr<BestFirstSearchSolver> Ptr;
    typedef typename GraphT::StateT::Ptr StatePtr;
    typedef typename GraphT::StateT State;
    typedef typename GraphT::Ptr GraphPtr;
    typedef typename SolverNode<State, GraphT>::Ptr SolverNodePtr;
    typedef typename std::priority_queue<SolverNodePtr,
                                         std::vector<SolverNodePtr>,
                                         std::greater<SolverNodePtr> > OpenList;
    BestFirstSearchSolver(GraphPtr graph): Solver<GraphT>(graph) {}
    
    virtual void addToOpenList(SolverNodePtr node)
    {
      node->setSortValue(fn(node));
      open_list_.push(node);
    }
    virtual bool isOpenListEmpty()
    {
      return open_list_.empty();
    }

    virtual SolverNodePtr popFromOpenList()
    {
      SolverNodePtr ret = open_list_.top();
      open_list_.pop();
      return ret;
    }

    virtual double fn(SolverNodePtr n)
    {
      return n->getCost();
    }
    
  protected:
    OpenList open_list_;
  private:
    
  };
}

#endif