best_first_search_solver.h
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35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_BEST_FIRST_SEARCH_SOLVER_H_
38 #define JSK_FOOTSTEP_PLANNER_BEST_FIRST_SEARCH_SOLVER_H_
39 
41 #include <queue>
42 
43 namespace jsk_footstep_planner
44 {
45  template <class GraphT>
46  class BestFirstSearchSolver: public Solver<GraphT>
47  {
48  public:
50  typedef typename GraphT::StateT::Ptr StatePtr;
51  typedef typename GraphT::StateT State;
52  typedef typename GraphT::Ptr GraphPtr;
54  typedef typename std::priority_queue<SolverNodePtr,
55  std::vector<SolverNodePtr>,
56  std::greater<SolverNodePtr> > OpenList;
57 
58  BestFirstSearchSolver(GraphPtr graph): Solver<GraphT>(graph) {}
59 
60  virtual void addToOpenList(SolverNodePtr node)
61  {
62  node->setSortValue(fn(node));
63  open_list_.push(node);
64  }
65  virtual bool isOpenListEmpty()
66  {
67  return open_list_.empty();
68  }
69 
70  virtual SolverNodePtr popFromOpenList()
71  {
72  SolverNodePtr ret = open_list_.top();
73  open_list_.pop();
74  return ret;
75  }
76 
77  virtual double fn(SolverNodePtr n)
78  {
79  return n->getCost();
80  }
81  protected:
82  OpenList open_list_;
83  private:
84  };
85 }
86 
87 #endif
std::priority_queue< SolverNodePtr, std::vector< SolverNodePtr >, std::greater< SolverNodePtr > > OpenList
boost::shared_ptr< BestFirstSearchSolver > Ptr
FootstepGraph::Ptr graph
SolverNode< State, GraphT >::Ptr SolverNodePtr
virtual void addToOpenList(SolverNodePtr node)


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