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dnode.h

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#ifndef _DNODE_H
#define _DNODE_H
/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library is  distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;  without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA


 * $Id: dnode.h,v 1.1.1.1 2006/05/11 05:22:45 derek Exp $
*/

#include <types.h>
#include <occupancy_grid.h>

class DNode
{
public:
        uint8 x;
        word y; // Don't know why y must be word to work, but x does not!?
        uint8 cost;
        word Gvalue; // was float
//      uint8 Hvalue; // was float
        word rhs; // not sure what type this will be.
//      short Fvalue;   // was float
//      DNode* parent;
};

#endif

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