node_basic.hpp

// Copyright (c) 2020, Samsung Research America
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License. Reserved.
 
#ifndef NAV2_SMAC_PLANNER__NODE_BASIC_HPP_
#define NAV2_SMAC_PLANNER__NODE_BASIC_HPP_
 
#include <math.h>
#include <vector>
#include <cmath>
#include <iostream>
#include <functional>
#include <queue>
#include <memory>
#include <utility>
#include <limits>
 
#include "ompl/base/StateSpace.h"
 
#include "nav2_smac_planner/constants.hpp"
#include "nav2_smac_planner/node_hybrid.hpp"
#include "nav2_smac_planner/node_lattice.hpp"
#include "nav2_smac_planner/node_2d.hpp"
#include "nav2_smac_planner/types.hpp"
#include "nav2_smac_planner/collision_checker.hpp"
 
namespace nav2_smac_planner
{
 
template<typename NodeT>
class NodeBasic
{
public:
  explicit NodeBasic(const uint64_t index)
  : index(index),
    graph_node_ptr(nullptr)
  {
  }
 
  void populateSearchNode(NodeT * & node);
 
  void processSearchNode();
 
  typename NodeT::Coordinates pose;  // Used by NodeHybrid and NodeLattice
  NodeT * graph_node_ptr;
  MotionPrimitive * prim_ptr;  // Used by NodeLattice
  uint64_t index;
  unsigned int motion_index;
  bool backward;
  TurnDirection turn_dir;
};
 
}  // namespace nav2_smac_planner
 
#endif  // NAV2_SMAC_PLANNER__NODE_BASIC_HPP_