ClearanceQuery.h

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#ifndef PMPL_CLEARANCE_QUERY_H
#define PMPL_CLEARANCE_QUERY_H
 
#include "QueryMethod.h"
 
 
class ClearanceQuery : virtual public QueryMethod {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType      RoadmapType;
    typedef typename RoadmapType::VID               VID;
    typedef typename RoadmapType::EdgeID            EdgeID;
    typedef std::unordered_set<size_t>              VIDSet;
    typedef typename RoadmapType::adj_edge_iterator EI;
 
 
    ClearanceQuery();
    ClearanceQuery(XMLNode& _node);
    virtual ~ClearanceQuery() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
    virtual void Initialize() override;
 
  protected:
 
 
    virtual void Reset(RoadmapType* const _r) override;
 
    virtual double StaticPathWeight(
        typename RoadmapType::adj_edge_iterator& _ei,
        const double _sourceDistance, const double _targetDistance) const
        override;
 
 
    std::string m_intermediateEdgeVCLabel; // EdgeIntermediate Validity Checker (for weighted clearance)
 
  private:
    void CacheEdge(VID _u, VID _v, double _value) const;
 
    std::map<std::pair<VID, VID>, double>* m_cachedEdges; // map that acts as the "cache"; filled in CacheEdge() 
};
 
#endif