---

node_chain.h

Go to the documentation of this file.

/*
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: node_chain.h,v 1.1.1.1 2006/05/11 05:22:46 derek Exp $
*/

#ifndef NODE_CHAIN
#define NODE_CHAIN
#include <node.h>
#include <chain.h>
using namespace std;
#define NODE_CHAIN_MAX 100


struct dynamic_node
{
  dynamic_node(void);
  dynamic_node(Node*, int);
  Node* node; // pointer to node in _field in Dstar class.
  int    Cold; // old cost
};


class node_chain : public chain
{
public:
  node_chain(void);
  const dynamic_node serve(void);       
  dynamic_node operator[](int) const;   
//  void initialize(void);      ///< marks all nodes as being written out.
  int exists(Node* inode); 
  bool update(Node* inode, int icost); 
private:
//  bool append(const dynamic_node&); ///< append a dynamic node.
  bool append(Node*, int); 
  dynamic_node _node_chain[NODE_CHAIN_MAX];
};

#endif

---