30 #ifndef VIGIR_FOOTSTEP_PLANNING_FOOTSTEP_PLANNER_ENVIRONMENT_H__ 31 #define VIGIR_FOOTSTEP_PLANNING_FOOTSTEP_PLANNER_ENVIRONMENT_H__ 37 #include <boost/function.hpp> 39 #include <sbpl/headers.h> 41 #include <vigir_pluginlib/plugin_manager.h> 45 #include <vigir_footstep_planning_lib/helper.h> 47 #include <vigir_footstep_planning_plugins/plugin_aggregators/world_model.h> 48 #include <vigir_footstep_planning_plugins/plugin_aggregators/step_cost_estimator.h> 49 #include <vigir_footstep_planning_plugins/plugin_aggregators/heuristic.h> 66 :
public DiscreteSpaceInformation
122 void GetSuccs(
int SourceStateID, std::vector<int> *SuccIDV, std::vector<int> *CostV);
129 void GetPreds(
int TargetStateID, std::vector<int> *PredIDV, std::vector<int> *CostV);
137 std::vector<int>* SuccIDV,
138 std::vector<int>* CLowV);
146 std::vector<int>* PredIDV,
147 std::vector<int>* CLowV);
158 void PrintState(
int stateID,
bool bVerbose, FILE *fOut);
183 bool operator()(
const PlanningState* a,
const PlanningState* b)
const;