graph_class.h

#ifndef GRAPHCLASS_H
#define GRAPHCLASS_H
 
#include <algorithm>
#include <iostream>
#include <unordered_map>
#include <unordered_set>
#include <vector>
 
#include "global_body_planner/planning_utils.h"
 
using namespace planning_utils;
 
 
class GraphClass {
 public:
  GraphClass();
 
  void addVertex(int index, State s);
 
  State getVertex(int index);
 
  int getNumVertices();
 
  virtual void addEdge(int idx1, int idx2);
 
  virtual void addEdge(int idx1, int idx2, double edge_cost);
 
  void removeEdge(int idx1, int idx2);
 
  virtual int getPredecessor(int idx);
 
  std::vector<int> getSuccessors(int idx);
 
  void addAction(int idx, Action a);
 
  Action getAction(int idx);
 
  void updateGValue(int idx, double val);
 
  double getGValue(int idx);
 
  double computeEdgeCost(int idx1, int idx2);
 
  void printVertex(State s);
 
  void printVertices();
 
  void printIncomingEdges(int idx);
 
  virtual void printEdges();
 
  virtual void init(State s);
 
 protected:
  std::unordered_map<int, State> vertices;
 
  std::unordered_map<int, Action> actions;
 
  std::unordered_map<int, std::vector<int>> edges;
 
  std::unordered_map<int, std::vector<int>> successors;
 
  std::unordered_map<int, double> g_values;
};
 
#endif