DynamicObstacle.h

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#ifndef PMPL_DYNAMIC_OBSTACLE_H_
#define PMPL_DYNAMIC_OBSTACLE_H_
 
#include <memory>
#include <vector>
 
#include "ConfigurationSpace/Cfg.h"
#include "Utilities/XMLNode.h"
 
class MPProblem;
class Robot;
 
 
class DynamicObstacle {
 
  public:
 
 
    DynamicObstacle(Robot* const _robot, std::vector<Cfg> _path);
 
    DynamicObstacle(XMLNode& _node, MPProblem* const _problem);
 
    ~DynamicObstacle();
 
 
    Robot* GetRobot() const noexcept;
 
    const std::vector<Cfg> GetPath() const noexcept;
 
    const size_t GetStartTime() const noexcept;
 
    void SetStartTime(size_t _start);
 
 
  private:
 
 
    Robot* m_robot{nullptr}; 
    std::vector<Cfg> m_path; 
    size_t m_startTime{0}; 
 
 
};
 
#endif