Fawkes API
Fawkes Development Version
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25 #ifndef _ASTAR_ABSTRACT_STATE_H_
26 #define _ASTAR_ABSTRACT_STATE_H_
57 virtual size_t key() = 0;
72 virtual std::vector<AStarState *>
children() = 0;
AStarState(float cost_sofar, AStarState *parent)
Constructor.
float total_estimated_cost
Total estimated cost.
virtual float estimate()=0
Estimate the heuristic cost to the goal.
virtual bool is_goal()=0
Check, wether we reached a goal or not.
Fawkes library namespace.
This is the abstract(!) class for an A* State.
virtual ~AStarState()
Destructor.
virtual size_t key()=0
Generates a unique key for this state.
AStarState * parent
Predecessor.
float path_cost
Cost of path leading to this search state.
virtual std::vector< AStarState * > children()=0
Generate all successors and put them to this vector.