commit be36c5b054287584370d74f93af3a8ec7c7d3854
author Parker Schuh <parker.schuh+gerrit_code_review@gmail.com> Mon Feb 19 01:06:50 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 25 16:00:49 2018 -0800
tree e3b7f8e3e996f0577496f5dca3d5a83818033ae0
parent 8d20ca8478305af9ef177d441dfc7a30076a2e00

Adding graph routines for the arm path planning.

This is guaranteed not to perform any runtime allocations, and
allows constructing a list of vertexes, and directed edges with costs
and then traversing this graph optimally based on those costs.

Change-Id: I17614b794c3ec5c3e1569cc75a030acf40a942b0

y2018/control_loops/superstructure/arm/BUILD

diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index 6104568..57b60e6 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -95,3 +95,18 @@
         "//third_party/eigen",
     ],
 )
+
+cc_library(
+    name = "graph",
+    srcs = ["graph.cc"],
+    hdrs = ["graph.h"],
+)
+
+cc_test(
+    name = "graph_test",
+    srcs = ["graph_test.cc"],
+    deps = [
+        ":graph",
+        "//aos/testing:googletest",
+    ],
+)