mapf 0.3.0

/*
 * Copyright (C) 2023 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

use crate::templates::InformedSearch;

/// The `UninformedSearch` template is just an [`InformedSearch`] template
/// without a heuristic.
pub type UninformedSearch<A, W, X, I, S, C> = InformedSearch<A, W, (), X, I, S, C>;

impl<A, W, X> UninformedSearch<A, W, X, (), (), ()> {
    /// Create a new UninformedSearch domain with the minimum required
    /// components.
    pub fn new_uninformed(activity: A, weight: W, closer: X) -> Self {
        Self {
            activity,
            weight,
            closer,
            heuristic: (),
            initializer: (),
            satisfier: (),
            connector: (),
        }
    }
}