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 
48 namespace 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 class provides an implementation of an updatable min-heap. Using it is a bit cumbersome,...
Definition: BinaryHeap.h:84
Main namespace. Contains everything in this library.