node.h

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

namespace jsk_footstep_planner
{
  template <class StateT>
  class Node
  {
  public:
    typedef boost::shared_ptr<Node> Ptr;
    Node(const StateT& state): state_(state) {}
    virtual ~Node();
    virtual StateT getState() { return state_; }
  protected:
    StateT state_;
  private:
    
  };
}

#endif