19 #ifndef HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
20 # define HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
26 namespace pathPlanner {
61 void init (
const BiRrtStarWkPtr_t& weak);
64 typedef std::map<NodePtr_t, EdgePtr_t> ParentMap_t;
94 std::vector<ParentMap_t> toRoot_;
97 BiRrtStarWkPtr_t weak_;
103 #endif // HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH