simple_neighbored_graph.h
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35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_SIMPLE_NEIGHBORED_GRAPH_
38 #define JSK_FOOTSTEP_PLANNER_SIMPLE_NEIGHBORED_GRAPH_
39 
40 #include <string>
42 
43 namespace jsk_footstep_planner
44 {
46  {
47  public:
49 
50  SimpleNeighboredNode(const std::string& name): name_(name)
51  {
52 
53  }
54 
56  {
57  neighbors_.push_back(node);
58  }
59 
60  virtual
61  std::vector<SimpleNeighboredNode::Ptr>
63  {
64  return neighbors_;
65  }
66 
67  virtual std::string getName() { return name_; }
69  {
70  return name_ == other.getName();
71  }
72 
73  protected:
74  std::string name_;
75  std::vector<SimpleNeighboredNode::Ptr> neighbors_;
76  private:
77 
78  };
79 
80  class SimpleNeighboredGraph: public Graph<SimpleNeighboredNode>
81  {
82  public:
84 
86  virtual std::vector<SimpleNeighboredGraph::StatePtr> successors(
87  StatePtr target_state)
88  {
89  return target_state->getNeighbors();
90  }
91 
92  virtual double pathCost(StatePtr from, StatePtr to, double prev_cost)
93  {
94  return prev_cost + 1;
95  }
96 
97  virtual bool isGoal(StatePtr state)
98  {
99  return *goal_state_ == *state;
100  }
101 
102  virtual StatePtr
103  findNode(const std::string& name)
104  {
105  for (size_t i = 0; i < nodes_.size(); i++) {
106  StatePtr s = nodes_[i];
107  if (s->getName() == name) {
108  return s;
109  }
110  }
111  return StatePtr();
112  }
113 
114  protected:
115  private:
116 
117  };
118 }
119 
120 #endif
std::vector< SimpleNeighboredNode::Ptr > neighbors_
boost::shared_ptr< SimpleNeighboredGraph > Ptr
virtual void addNeighbor(SimpleNeighboredNode::Ptr node)
virtual StatePtr findNode(const std::string &name)
virtual std::vector< SimpleNeighboredNode::Ptr > getNeighbors()
virtual double pathCost(StatePtr from, StatePtr to, double prev_cost)
bool operator==(SimpleNeighboredNode &other)
virtual std::vector< SimpleNeighboredGraph::StatePtr > successors(StatePtr target_state)
boost::shared_ptr< SimpleNeighboredNode > Ptr


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri Jul 26 2019 03:54:32