Dijkstra.hpp

Go to the documentation of this file.

#pragma once
#include <unordered_map>
#include <base/Eigen.hpp>
 
namespace maps { namespace grid 
{
class TraversabilityNodeBase;
}}
 
namespace traversability_generator3d{
    class TraversabilityConfig;
}
 
namespace ugv_nav4d
{
    struct Mobility;
 
    class Dijkstra
    {
    public:
        
        static void computeCost(const maps::grid::TraversabilityNodeBase* source,
                                std::unordered_map<const maps::grid::TraversabilityNodeBase*, double> &outDistances,
                                const traversability_generator3d::TraversabilityConfig& config,
                                const ugv_nav4d::Mobility& mobilityConfig);
    };
        
}