EdgeValidityCheckerMethod.h

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#ifndef EDGE_VALIDITY_CHECKER_METHOD_H_
#define EDGE_VALIDITY_CHECKER_METHOD_H_
 
#include "MPLibrary/MPBaseObject.h"
#include "Utilities/MPUtils.h"
 
class EdgeValidityCheckerMethod : public MPBaseObject {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType        RoadmapType;
    typedef typename RoadmapType::VID                 VID;
    typedef typename RoadmapType::EID                 EID;
    typedef typename RoadmapType::adj_edge_iterator   EI;
 
 
    EdgeValidityCheckerMethod() = default;
 
    EdgeValidityCheckerMethod(XMLNode& _node);
 
    virtual ~EdgeValidityCheckerMethod() = default;
 
    void Initialize() = 0;
 
 
    virtual bool ValidateEdge(VID _u, VID _v, vector<size_t>& _collisions) = 0;
    
    virtual bool ValidateEdge(Cfg& _c1, Cfg& _c2, vector<size_t>& _collisions) = 0;
 
    void SetReportCollisions(bool _reportCollisions){
      m_reportCollisions = _reportCollisions;
    }
 
 
    virtual double EdgeWeightedClearance(VID _u, VID _v) = 0;
 
    virtual double EdgeWeightedClearance(Cfg& _c1, Cfg& _c2) = 0;
    
  protected:
 
    bool m_reportCollisions{false};   
 
  private:
 
 
 
};
 
#endif