interface_graph_searcher.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_INTERFACE_GRAPH_SEARCHER_H_
#define DESIGNLAB_INTERFACE_GRAPH_SEARCHER_H_
 
#include <memory>
#include <tuple>
#include <vector>
 
#include "divided_map_state.h"
#include "gait_pattern_graph_tree.h"
#include "graph_search_evaluator.h"
#include "graph_search_result_record.h"
#include "robot_operation.h"
 
 
namespace designlab
{
 
class IGraphSearcher
{
public:
    IGraphSearcher() = default;
 
    virtual ~IGraphSearcher() = default;
 
    virtual std::tuple<GraphSearchResult, GraphSearchEvaluationValue, RobotStateNode> SearchGraphTree(
        const GaitPatternGraphTree& graph,
        const RobotOperation& operation,
        const DividedMapState& divided_map_state,
        int max_depth) const = 0;
 
    virtual std::tuple<GraphSearchResult, GraphSearchEvaluationValue, RobotStateNode> SearchGraphTreeVector(
        const std::vector<GaitPatternGraphTree>& graph_vector,
        const RobotOperation& operation,
        const DividedMapState& divided_map_state,
        int max_depth) const = 0;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_INTERFACE_GRAPH_SEARCHER_H_