graph.h
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35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_GRAPH_H_
38 #define JSK_FOOTSTEP_PLANNER_GRAPH_H_
39 
40 #include <boost/shared_ptr.hpp>
41 #include <vector>
42 
43 namespace jsk_footstep_planner
44 {
45  template <class StateT_>
46  class Graph
47  {
48  public:
50  typedef StateT_ StateT;
52  Graph() {}
53  virtual void setStartState(StatePtr start) { start_state_ = start; }
54  virtual void setGoalState(StatePtr goal) { goal_state_ = goal; }
55 
56  virtual StatePtr getStartState() { return start_state_; }
57  virtual StatePtr getGoalState() { return goal_state_; }
58 
59  virtual void addNode(StatePtr state) { nodes_.push_back(state); }
60  virtual size_t numNodes() { return nodes_.size(); }
61  virtual std::vector<StatePtr> successors(StatePtr target_state) = 0;
62  virtual double pathCost(StatePtr from, StatePtr to, double prev_cost)
63  {
64  return prev_cost + 1;
65  }
66 
67  virtual bool isGoal(StatePtr state) = 0;
68 
69  protected:
70  StatePtr start_state_;
71  StatePtr goal_state_;
72  std::vector<StatePtr> nodes_;
73  //double pos_goal_thr_;
74  //double rot_goal_thr_;
75  private:
76 
77  };
78 }
79 
80 #endif
virtual size_t numNodes()
Definition: graph.h:60
virtual bool isGoal(StatePtr state)=0
virtual std::vector< StatePtr > successors(StatePtr target_state)=0
virtual StatePtr getStartState()
Definition: graph.h:56
boost::shared_ptr< Graph > Ptr
Definition: graph.h:49
virtual void setStartState(StatePtr start)
Definition: graph.h:53
virtual void addNode(StatePtr state)
Definition: graph.h:59
boost::shared_ptr< StateT > StatePtr
Definition: graph.h:51
state
virtual double pathCost(StatePtr from, StatePtr to, double prev_cost)
Definition: graph.h:62
virtual void setGoalState(StatePtr goal)
Definition: graph.h:54
std::vector< StatePtr > nodes_
Definition: graph.h:72
virtual StatePtr getGoalState()
Definition: graph.h:57


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