Constraint.h

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#ifndef PMPL_CONSTRAINT_H_
#define PMPL_CONSTRAINT_H_
 
#include <memory>
#include <vector>
 
class Boundary;
class Cfg;
class Robot;
class XMLNode;
class Environment;
 
 
class Constraint {
 
  public:
 
 
    explicit Constraint(Robot* const _r);
 
    virtual ~Constraint();
 
    static std::unique_ptr<Constraint> Factory(Robot* const _r, XMLNode& _node, Environment* _env = nullptr);
 
    virtual std::unique_ptr<Constraint> Clone() const = 0;
 
 
    virtual void SetRobot(Robot* const _r);
 
    virtual const Boundary* GetBoundary() const = 0;
 
    virtual bool Satisfied(const Cfg& _c) const = 0;
 
 
  protected:
 
 
    Robot* m_robot{nullptr}; 
 
 
};
 
#endif