AStarReplanner.hpp

/*
 *  AStarReplanner.hpp
 *  libmove3D-planners 
 *
 *  Created by Benjamin Vadant on 01/02/13.
 *  Based on Jim Mainprice replanningAlgorithms.hpp/cpp
 *  Copyright 2013 LAAS/CNRS. All rights reserved.
 *
 */

#ifndef ASTAR_REPLANNER_HPP
#define ASTAR_REPLANNER_HPP

#include "planner/Replanning/SimpleReplanner.hpp"
#include "API/Trajectory/trajectory.hpp"
#include "API/ConfigSpace/configuration.hpp"
#include "API/Roadmap/graph.hpp"

#include "HRI_costspace/HRICS_Navigation.hpp"

#include "utils/ConfGenerator.h"

#include "P3d-pkg.h"
#include "LightPlanner-pkg.h"

#include <string>

class AStarReplanner : public SimpleReplanner
{   
public:
    AStarReplanner(Robot* r);
    ~AStarReplanner();
    
    bool init();
    void run();
    
private:
    HRICS::Navigation* navigation;
};

#endif