22 #ifndef _LIBS_NAVGRAPH_SEARCH_STATE_H_
23 #define _LIBS_NAVGRAPH_SEARCH_STATE_H_
25 #include <core/utils/lockptr.h>
26 #include <navgraph/constraints/constraint_repo.h>
27 #include <navgraph/navgraph.h>
28 #include <utils/search/astar_state.h>
46 navgraph::EstimateFunction estimate_func,
71 return sqrtf(powf(to.
x() - from.
x(), 2) + powf(to.
y() - from.
y(), 2));
82 return sqrtf(powf(goal.
x() -
node.
x(), 2) + powf(goal.
y() -
node.
y(), 2));
91 navgraph::EstimateFunction estimate_func,
92 navgraph::CostFunction cost_func,
96 std::vector<AStarState *> children();
110 navgraph::EstimateFunction estimate_func_;
111 navgraph::CostFunction cost_func_;