BasicPRM.h

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#ifndef PMPL_BASIC_PRM_H_
#define PMPL_BASIC_PRM_H_
 
#include "MPStrategyMethod.h"
 
#include "Geometry/Boundaries/CSpaceBoundingBox.h"
#include "Utilities/XMLNode.h"
 
 
class BasicPRM : public MPStrategyMethod {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType  RoadmapType;
    typedef typename RoadmapType::VID           VID;
 
 
    struct SamplerSetting {
      std::string label;
      size_t count;
      size_t attempts;
    };
 
 
    BasicPRM();
 
    BasicPRM(XMLNode& _node);
 
    virtual ~BasicPRM() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
 
  protected:
 
 
    virtual void Initialize() override;
    virtual void Iterate() override;
 
 
    std::vector<VID> Sample();
 
    void Connect(const std::vector<VID>& _vids);
 
 
    std::vector<SamplerSetting> m_samplers;
    std::vector<std::string> m_connectorLabels;
 
    std::string m_inputMapFilename; 
 
 
    bool m_fixBase{false};  
    std::unique_ptr<Boundary> m_samplingBoundary;
 
 
};
 
#endif