DynamicDomainRRT.h

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#ifndef PMPL_DYNAMIC_DOMAIN_RRT_H_
#define PMPL_DYNAMIC_DOMAIN_RRT_H_
 
#include "BasicRRTStrategy.h"
 
class DynamicDomainRRT : public BasicRRTStrategy {
 public:
 
  typedef typename MPBaseObject::WeightType WeightType;
  typedef typename MPBaseObject::RoadmapType RoadmapType;
  typedef typename RoadmapType::VID VID;
 
 
  DynamicDomainRRT();
 
  DynamicDomainRRT(XMLNode& _node);
 
  virtual ~DynamicDomainRRT() = default;
 
 
  virtual void Print(std::ostream& _os) const override;
 
 
 protected:
 
  virtual void Initialize() override;
 
 
  virtual VID Extend(const VID _nearVID,
                     const Cfg& _qRand,
                     LPOutput& _lp,
                     const bool _requireNew = false) override;
 
  virtual VID ExpandTree(const VID _nearestVID, const Cfg& _target) override;
 
 
  static std::string RLabel() { return "DDRRT::R"; }
 
 
  double m_r{2.};
 
  std::string m_dmLabel;  
 
};
 
#endif