25 #ifndef _ABSTRACT_ASTAR_H_
26 #define _ABSTRACT_ASTAR_H_
28 #include <utils/search/astar_state.h>
42 std::vector<AStarState *>
solve(AStarState *initialState);
45 struct CmpSearchStateCost
54 std::priority_queue<AStarState *, std::vector<AStarState *>, CmpSearchStateCost> open_list;
55 std::map<const size_t, AStarState *> closed_list;
59 std::vector<AStarState *> solution_sequence(
AStarState *node);
60 std::vector<AStarState *> solution;