Queuetypes.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_
 
#include <array>
#include <functional>
#include <memory>
#include <utility>
 
#include "ompl/base/Cost.h"
#include "ompl/datastructures/BinaryHeap.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace aitstar
        {
            // Forward declarations of the AIT* edge and vertex classes.
            class Edge;
            class Vertex;
 
            using EdgeQueue = ompl::BinaryHeap<Edge, std::function<bool(const Edge &, const Edge &)>>;
 
            using KeyVertexPair = std::pair<std::array<ompl::base::Cost, 2u>, std::shared_ptr<Vertex>>;
 
            using VertexQueue =
                ompl::BinaryHeap<KeyVertexPair, std::function<bool(const KeyVertexPair &, const KeyVertexPair &)>>;
 
        }  // namespace aitstar
    }      // namespace geometric
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_