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// Authors: Marlin Strub

#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_

#include <array>
#include <functional>
#include <memory>
#include <utility>

#include "ompl/base/Cost.h"
#include "ompl/datastructures/BinaryHeap.h"

namespace ompl
{
    namespace geometric
    {
        namespace aitstar
        {
            // Forward declarations of the AIT* edge and vertex classes.
            class Edge;
            class Vertex;

            /** \brief The type of the edge queue. */
            using EdgeQueue = ompl::BinaryHeap<Edge, std::function<bool(const Edge &, const Edge &)>>;

            /** \brief A type for elements in the vertex queue. */
            using KeyVertexPair = std::pair<std::array<ompl::base::Cost, 2u>, std::shared_ptr<Vertex>>;

            /** \brief The type of the vertex queue. */
            using VertexQueue =
                ompl::BinaryHeap<KeyVertexPair, std::function<bool(const KeyVertexPair &, const KeyVertexPair &)>>;

        }  // namespace aitstar
    }  // namespace geometric
}  // namespace ompl

#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_QUEUETYPES_
