planner_class.h

#ifndef PLANNERCLASS_H
#define PLANNERCLASS_H
 
#include "global_body_planner/graph_class.h"
 
using namespace planning_utils;
 
typedef std::pair<double, int> Distance;
 
 
class PlannerClass : public GraphClass {
 public:
  PlannerClass(int direction, const PlannerConfig &planner_config);
 
  State randomState(const PlannerConfig &planner_config);
 
  std::vector<int> neighborhoodN(State s, int N) const;
 
  std::vector<int> neighborhoodDist(State q, double dist) const;
 
  int getNearestNeighbor(State q) const;
 
  int direction_ = FORWARD;
 
  std::shared_ptr<std::lognormal_distribution<double>> vel_distribution_;
};
 
#endif