ExtenderMethod.h

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#ifndef PMPL_EXTENDER_METHOD_H_
#define PMPL_EXTENDER_METHOD_H_
 
#include "MPLibrary/MPBaseObject.h"
#include "MPLibrary/LocalPlanners/LPOutput.h"
#include "MPLibrary/LocalPlanners/GroupLPOutput.h"
#include "MPLibrary/ValidityCheckers/CollisionDetection/CDInfo.h"
#include <limits>
 
class ExtenderMethod : public MPBaseObject {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType RoadmapType;
    typedef typename MPBaseObject::GroupCfgType GroupCfgType;
    typedef GroupLocalPlan<RoadmapType>      GroupWeightType;
 
 
    ExtenderMethod() = default;
 
    ExtenderMethod(XMLNode& _node);
 
    virtual ~ExtenderMethod() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
 
    virtual double GetMinDistance() const;
 
    virtual double GetMaxDistance() const;
 
    virtual bool Extend(const Cfg& _start, const Cfg& _end,
        Cfg& _new, LPOutput& _lp) = 0;
 
    virtual bool Extend(const Cfg& _start, const Cfg& _end,
        Cfg& _new, LPOutput& _lp, CDInfo& _cdInfo);
 
    virtual bool Extend(const GroupCfgType& _start, const GroupCfgType& _end,
        GroupCfgType& _new, GroupLPOutput& _lp,
        const std::vector<size_t>& _robotIndexes = {});
 
    virtual bool Extend(const GroupCfgType& _start, const GroupCfgType& _end,
        GroupCfgType& _new, GroupLPOutput& _lp, CDInfo& _cdInfo,
        const std::vector<size_t>& _robotIndexes = {});
 
 
  protected:
 
 
    double m_minDist{.1};  
    double m_maxDist{1.};  
 
 
};
 
#endif