breadth_first_search_solver.h
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35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_BREADTH_FIRST_SEARCH_SOLVER_H_
38 #define JSK_FOOTSTEP_PLANNER_BREADTH_FIRST_SEARCH_SOLVER_H_
39 
41 #include <queue>
42 
43 namespace jsk_footstep_planner
44 {
45  template <class GraphT>
46  class BreadthFirstSearchSolver: 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 
55  BreadthFirstSearchSolver(GraphPtr graph): Solver<GraphT>(graph) {}
56 
57  virtual void addToOpenList(SolverNodePtr state)
58  {
59  open_list_.push(state);
60  }
61 
62  virtual bool isOpenListEmpty()
63  {
64  if (verbose_) {
65  std::cerr << __PRETTY_FUNCTION__ << " queue size: " << open_list_.size() << std::endl;
66  }
67  return open_list_.empty();
68  }
69 
70  virtual SolverNodePtr popFromOpenList()
71  {
72  SolverNodePtr ret = open_list_.front();
73  open_list_.pop();
74  return ret;
75  }
76  protected:
77  std::queue<SolverNodePtr> open_list_;
79  private:
80 
81  };
82 }
83 
84 #endif
FootstepGraph::Ptr graph
boost::shared_ptr< BreadthFirstSearchSolver > Ptr


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