.. _program_listing_file_include_path_planning_dijkstra.hpp:

Program Listing for File dijkstra.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_path_planning_dijkstra.hpp>` (``include/path_planning/dijkstra.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef DIJKSTRA_H
   #define DIJKSTRA_H
   
   #include <queue>
   
   #include "path_planning/planner.hpp"
   #include "utils/utils.hpp"
   
   class Dijkstra : public Planner {
    public:
     explicit Dijkstra(std::vector<std::vector<int>> grid)
         : Planner(std::move(grid)) {}
   
     std::tuple<bool, std::vector<Node>> Plan(const Node& start,
                                              const Node& goal) override;
   
    private:
     std::vector<Node> ConvertClosedListToPath(
         std::unordered_set<Node, NodeIdAsHash, compare_coordinates>& closed_list,
         const Node& start, const Node& goal);
   };
   
   #endif  // DIJKSTRA_H