astar_solver.h
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35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_ASTAR_SOLVER_H_
38 #define JSK_FOOTSTEP_PLANNER_ASTAR_SOLVER_H_
39 
41 #include <boost/function.hpp>
42 namespace jsk_footstep_planner
43 {
44  template <class GraphT>
45  class AStarSolver: public BestFirstSearchSolver<GraphT>
46  {
47  public:
49  typedef typename GraphT::StateT::Ptr StatePtr;
50  typedef typename GraphT::StateT State;
51  typedef typename GraphT::Ptr GraphPtr;
53  typedef typename boost::function<double(SolverNodePtr, GraphPtr)> HeuristicFunction;
54 
55  AStarSolver(GraphPtr graph): BestFirstSearchSolver<GraphT>(graph) {}
56  virtual double fn(SolverNodePtr n)
57  {
58  return gn(n) + hn(n);
59  }
60 
61  virtual double gn(SolverNodePtr n)
62  {
63  return n->getCost();
64  }
65 
66  virtual double hn(SolverNodePtr n)
67  {
68  return heuristic_(n, graph_);
69  }
70 
71  virtual void setHeuristic(HeuristicFunction h) { heuristic_ = h; }
72 
73  protected:
75  HeuristicFunction heuristic_;
76 
77  private:
78 
79  };
80 }
81 
82 #endif
SolverNode< State, GraphT >::Ptr SolverNodePtr
Definition: astar_solver.h:52
virtual double fn(SolverNodePtr n)
Definition: astar_solver.h:56
virtual double hn(SolverNodePtr n)
Definition: astar_solver.h:66
boost::function< double(SolverNodePtr, GraphPtr)> HeuristicFunction
Definition: astar_solver.h:53
GraphT::StateT::Ptr StatePtr
Definition: astar_solver.h:49
virtual void setHeuristic(HeuristicFunction h)
Definition: astar_solver.h:71
FootstepGraph::Ptr graph
boost::shared_ptr< AStarSolver > Ptr
Definition: astar_solver.h:48
virtual double gn(SolverNodePtr n)
Definition: astar_solver.h:61


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Thu Nov 14 2019 03:53:28