urop/node.h at master · hanssusilo/urop · GitHub

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#ifndef NODE_H
#define NODE_H
#include <vector>
#include <string>

#ifndef PI
#define PI 3.14159265358979
#endif

using namespace std;

#ifndef st_type
#define st_type
typedef vector<double> state_type;
#endif

class Node {
 public:
  double t;
  double x;
  double v;
  double theta;
  double w;
  double u;
  double cost;
  vector<double> times;
  vector<state_type> trajectory;

  Node* parent;
  vector<Node*> children;
  vector<Node*> subnodes;
  string print();
  void print_node();
  void add_child(Node* n);
  Node();
  Node(Node* n); // Copy constructor
  Node(double t, double x, double v, double theta, double w, double u, double cost, Node* parent, vector<double> times, vector<state_type> trajectory);
  ~Node();
};
#endif