astar.h
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35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
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38 #ifndef _ASTAR_H
39 #define _ASTAR_H
40 
43 #include <vector>
44 #include <algorithm>
45 
46 namespace global_planner {
47 class Index {
48  public:
49  Index(int a, float b) {
50  i = a;
51  cost = b;
52  }
53  int i;
54  float cost;
55 };
56 
57 struct greater1 {
58  bool operator()(const Index& a, const Index& b) const {
59  return a.cost > b.cost;
60  }
61 };
62 
63 class AStarExpansion : public Expander {
64  public:
65  AStarExpansion(PotentialCalculator* p_calc, int nx, int ny);
66  bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, int cycles,
67  float* potential);
68  private:
69  void add(unsigned char* costs, float* potential, float prev_potential, int next_i, int end_x, int end_y);
70  std::vector<Index> queue_;
71 };
72 
73 } //end namespace global_planner
74 #endif
75 
std::vector< Index > queue_
Definition: astar.h:70
bool add(const actionlib::TwoIntsGoal &req, actionlib::TwoIntsResult &res)
bool operator()(const Index &a, const Index &b) const
Definition: astar.h:58
Index(int a, float b)
Definition: astar.h:49


global_planner
Author(s): David Lu!!
autogenerated on Thu Sep 3 2020 04:06:55