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Queuetypes.h
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34
35// Authors: Marlin Strub
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_
38#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_
39
40#include <array>
41#include <functional>
42#include <memory>
43#include <utility>
44
45#include "ompl/base/Cost.h"
46#include "ompl/datastructures/BinaryHeap.h"
47
48namespace ompl
49{
50 namespace geometric
51 {
52 namespace aitstar
53 {
54 // Forward declarations of the AIT* edge and vertex classes.
55 class Edge;
56 class Vertex;
57
59 using EdgeQueue = ompl::BinaryHeap<Edge, std::function<bool(const Edge &, const Edge &)>>;
60
62 using KeyVertexPair = std::pair<std::array<ompl::base::Cost, 2u>, std::shared_ptr<Vertex>>;
63
65 using VertexQueue =
66 ompl::BinaryHeap<KeyVertexPair, std::function<bool(const KeyVertexPair &, const KeyVertexPair &)>>;
67
68 } // namespace aitstar
69 } // namespace geometric
70} // namespace ompl
71
72#endif // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_
This namespace contains code that is specific to planning under geometric constraints.
Main namespace. Contains everything in this library.