23 #ifndef __PLUGINS_COLLI_SEARCH_ASTAR_H_ 24 #define __PLUGINS_COLLI_SEARCH_ASTAR_H_ 26 #include "astar_state.h" 27 #include "../common/types.h" 39 class LaserOccupancyGrid;
63 void solve(
const point_t &robo_pos,
const point_t &target_pos, std::vector<point_t> &solution );
66 point_t remove_target_from_obstacle(
int target_x,
int target_y,
int step_x,
int step_y );
89 std::vector< AStarState * > astar_states_;
93 int astar_state_count_;
103 std::priority_queue< AStarState *, std::vector< AStarState * >, cmp > open_list_;
106 std::map< int, int > closed_list_;
116 int calculate_key(
int x,
int y );
119 bool is_goal( AStarState * state );
122 int heuristic( AStarState * state );
125 void generate_children( AStarState * father );
128 void get_solution_sequence( AStarState * node, std::vector<point_t> &solution );
This is the abstract(!) class for an A* State.
int total_cost_
The total cost.
This class tries to translate the found plan to interpreteable data for the rest of the program...
Fawkes library namespace.
Costs of occupancy-grid cells.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
Point with cartesian coordinates as signed integers.
Interface for configuration handling.