Queuetypes.h

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/*********************************************************************
 * Attribution Notice:
 *
 * This file contains code partially derived from the AIT* or BIT* planner
 * in the Open Motion Planning Library (OMPL). Components such as priority
 * queue type.
 *
 * Additional modifications for BLIT* were independently
 * developed by Yi Wang.
 *********************************************************************/
 
// Authors: Yi Wang, Eyal Weiss, Bingxian Mu, Oren Salzman
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BLITSTAR_QUEUETYPES_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BLITSTAR_QUEUETYPES_
 
#include <array>
#include <functional>
#include <memory>
#include <utility>
#include "ompl/base/Cost.h"
#include "ompl/datastructures/BinaryHeap.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace blitstar
        {
            // Declarations of BLIT* vertex classes.
            class Vertex;

            using KeyVertexPair = std::pair<std::array<ompl::base::Cost, 2u>, std::shared_ptr<Vertex>>;

            using MiddleVertex = std::pair<ompl::base::Cost, std::shared_ptr<Vertex>>;

            using keyEdgePair = std::pair<std::shared_ptr<Vertex>, std::shared_ptr<Vertex>>;

            using VertexQueue =
                ompl::BinaryHeap<KeyVertexPair, std::function<bool(const KeyVertexPair &, const KeyVertexPair &)>>;
 
        }  // namespace blitstar
    }  // namespace geometric
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BLITSTAR_QUEUETYPES_