BinaryLPSweptDistance.h

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#ifndef PMPL_BINARY_LP_SWEPT_DISTANCE_H_
#define PMPL_BINARY_LP_SWEPT_DISTANCE_H_
 
#include "LPSweptDistance.h"
 
 
class BinaryLPSweptDistance : virtual public LPSweptDistance {
 
  public:
 
 
    
 
 
    BinaryLPSweptDistance(string _lp = "sl", double _posRes = .1,
        double _oriRes = .1, double _tolerance = .01, int _maxAttempts = 100,
        bool _bbox = false);
    BinaryLPSweptDistance(XMLNode& _node);
 
 
    virtual void Print(ostream& _os) const override;
 
 
    virtual double Distance(const Cfg& _c1, const Cfg& _c2) override;
 
 
  private:
 
 
    double m_tolerance;
    int m_maxAttempts;
 
};
 
#endif