BasicExtender.h

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#ifndef PMPL_BASIC_EXTENDER_H_
#define PMPL_BASIC_EXTENDER_H_
 
#include "ExtenderMethod.h"
 
 
class BasicExtender : virtual public ExtenderMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType    GroupCfgType;
    typedef typename MPBaseObject::GroupWeightType GroupWeightType;
    typedef typename GroupCfgType::Formation   Formation;
 
 
    BasicExtender();
 
    BasicExtender(XMLNode& _node);
 
    virtual ~BasicExtender() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
 
    virtual bool Extend(const Cfg& _start, const Cfg& _end,
        Cfg& _new, LPOutput& _lp) override;
 
    virtual bool Extend(const Cfg& _start, const Cfg& _end,
        Cfg& _new, LPOutput& _lp, CDInfo& _cdInfo) override;
 
    virtual bool Extend(const GroupCfgType& _start, const GroupCfgType& _end,
        GroupCfgType& _new, GroupLPOutput& _lp,
        const Formation& _robotIndexes = Formation()) override;
 
    virtual bool Extend(const GroupCfgType& _start, const GroupCfgType& _end,
        GroupCfgType& _new, GroupLPOutput& _lp, CDInfo& _cdInfo,
        const Formation& _robotIndexes = Formation()) override;
 
 
  protected:
 
 
    bool Expand(const Cfg& _start, const Cfg& _end, Cfg& _newCfg,
        double _delta, LPOutput& _lp, double _posRes, double _oriRes);
    bool Expand(const Cfg& _start, const Cfg& _end, Cfg& _newCfg,
        double _delta, LPOutput& _lp, CDInfo& _cdInfo,
        double _posRes, double _oriRes);
 
 
    bool Expand(const GroupCfgType& _start, const GroupCfgType& _end,
        GroupCfgType& _newCfg, double _delta, GroupLPOutput& _lp,
        double _posRes, double _oriRes,
        const Formation& _robotIndexes = Formation());
    bool Expand(const GroupCfgType& _start, const GroupCfgType& _end,
        GroupCfgType& _newCfg, double _delta, GroupLPOutput& _lp,
        CDInfo& _cdInfo, double _posRes, double _oriRes,
        const Formation& _robotIndexes = Formation());
 
 
    std::string m_dmLabel;          
    std::string m_vcLabel;          
    bool m_randomOrientation{true}; 
 
};
 
#endif