Node.h

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#pragma once
 
#include <memory>
#include <vector>
 
#include <Eigen/Geometry>
 
#include <VirtualRobot/VirtualRobot.h>
 
namespace armarx::navigation::algorithm::astar
{
    class Node;
    using NodePtr = std::shared_ptr<Node>;
 
    /**
    * A Node can store data to all valid neighbors (successors) and a precessor.
    * It offers methods to determine the complete path to the starting point.
    */
    class Node
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
        Node(const Eigen::Vector2f& position, float obstacleDistance);
 
        Eigen::Vector2f position;
        /// All nodes that are adjacent to this one.
        std::vector<NodePtr> successors;
        /// For traversal.
        NodePtr predecessor;
 
        float obstacleDistance;
 
        /// Collects all predecessors in order to generate path to starting point.
        std::vector<Eigen::Vector2f> traversePredecessors() const;
    };
 
} // namespace armarx::navigation::algorithm::astar