BridgeTestSampler.h

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#ifndef PPL_BRIDGE_TEST_SAMPLER_H_
#define PPL_BRIDGE_TEST_SAMPLER_H_
 
#include "SamplerMethod.h"
 
class BridgeTestSampler : virtual public SamplerMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType GroupCfgType;
    typedef std::map<Robot*, const Boundary*>   BoundaryMap;
  
 
    BridgeTestSampler(string _vcLabel = "", string _dmLabel = "",
        double _d = 0.5, bool _useBoundary = false);
 
    BridgeTestSampler(XMLNode& _node);
 
    virtual ~BridgeTestSampler() = default;
 
 
    virtual void Print(ostream& _os) const override;
 
 
    void ParseXML(XMLNode& _node);
 
 
    virtual bool Sampler(GroupCfgType& _cfg, const Boundary* const _boundary,
        vector<GroupCfgType>& _valid, vector<GroupCfgType>& _invalid);
 
    virtual bool Sampler(Cfg& _cfg, const Boundary* const _boundary,
        vector<Cfg>& _valid, vector<Cfg>& _invalid);
 
    virtual bool Sampler(GroupCfgType& _cfg, const BoundaryMap& _boundaryMap,
        std::vector<GroupCfgType>& _valid, std::vector<GroupCfgType>& _invalid);
 
 
  protected:
 
 
    double m_d;  
    bool m_useBoundary;  
    std::string m_vcLabel, m_dmLabel;  
 
 
    bool GroupInBounds(GroupCfgType& _gcfg, const BoundaryMap& _boundaryMap);
 
};
 
#endif