25 #ifndef _ABSTRACT_ASTAR_H_ 26 #define _ABSTRACT_ASTAR_H_ 28 #include <utils/search/astar_state.h> 45 struct CmpSearchStateCost {
50 std::priority_queue<AStarState *, std::vector<AStarState *>, CmpSearchStateCost> open_list;
51 std::map<const size_t, AStarState*> closed_list;
55 std::vector<AStarState *> solution_sequence(
AStarState * node);
56 std::vector<AStarState *> solution;
This is the abstract(!) class for an A* State.
This class tries to translate the found plan to interpreteable data for the rest of the program...
Fawkes library namespace.
std::vector< AStarState * > solve(AStarState *initialState)
Solves a situation given by the initial state with AStar, and returns a vector of AStarStates that so...
float total_estimated_cost
Total estimated cost.