simple_neighbored_graph.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
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00035 
00036 
00037 #ifndef JSK_FOOTSTEP_PLANNER_SIMPLE_NEIGHBORED_GRAPH_
00038 #define JSK_FOOTSTEP_PLANNER_SIMPLE_NEIGHBORED_GRAPH_
00039 
00040 #include "jsk_footstep_planner/graph.h"
00041 
00042 namespace jsk_footstep_planner
00043 {
00044   class SimpleNeighboredNode
00045   {
00046   public:
00047     typedef boost::shared_ptr<SimpleNeighboredNode> Ptr;
00048     
00049     SimpleNeighboredNode(const std::string& name): name_(name)
00050     {
00051 
00052     }
00053     
00054     virtual void addNeighbor(SimpleNeighboredNode::Ptr node)
00055     {
00056       neighbors_.push_back(node);
00057     }
00058     
00059     virtual
00060     std::vector<SimpleNeighboredNode::Ptr>
00061     getNeighbors()
00062     {
00063       return neighbors_;
00064     }
00065     
00066     virtual std::string getName() { return name_; }
00067     bool operator==(SimpleNeighboredNode& other)
00068     {
00069       return name_ == other.getName();
00070     }
00071     
00072   protected:
00073     std::string name_;
00074     std::vector<SimpleNeighboredNode::Ptr> neighbors_;
00075   private:
00076     
00077   };
00078   
00079   class SimpleNeighboredGraph: public Graph<SimpleNeighboredNode>
00080   {
00081   public:
00082     typedef boost::shared_ptr<SimpleNeighboredGraph> Ptr;
00083     
00084     SimpleNeighboredGraph() {}
00085     virtual std::vector<SimpleNeighboredGraph::StatePtr> successors(
00086       StatePtr target_state)
00087     {
00088       return target_state->getNeighbors();
00089     }
00090     
00091     virtual double pathCost(StatePtr from, StatePtr to, double prev_cost)
00092     {
00093       return prev_cost + 1;
00094     }
00095 
00096     virtual bool isGoal(StatePtr state)
00097     {
00098       return *goal_state_ == *state;
00099     }
00100 
00101     virtual StatePtr
00102     findNode(const std::string& name)
00103     {
00104       for (size_t i = 0; i < nodes_.size(); i++) {
00105         StatePtr s = nodes_[i];
00106         if (s->getName() == name) {
00107           return s;
00108         }
00109       }
00110       return StatePtr();
00111     }
00112     
00113   protected:
00114   private:
00115     
00116   };
00117 }
00118 
00119 #endif


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:37:57