GroupLPOutput.h

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#ifndef PMPL_GROUP_LP_OUTPUT_H_
#define PMPL_GROUP_LP_OUTPUT_H_
 
#include <string>
#include <utility>
#include <vector>
 
#include "ConfigurationSpace/GenericStateGraph.h"
#include "ConfigurationSpace/Cfg.h"
#include "ConfigurationSpace/Weight.h"
#include "ConfigurationSpace/GroupRoadmap.h"
#include "ConfigurationSpace/GroupCfg.h"
#include "ConfigurationSpace/GroupLocalPlan.h"
#include "MPProblem/RobotGroup/RobotGroup.h"
 
 
struct GroupLPOutput {
 
 
  typedef DefaultWeight<Cfg> IndividualEdge;
  typedef GenericStateGraph<Cfg, IndividualEdge> RoadmapType;
  typedef GroupCfg<RoadmapType> GroupCfgType;
  typedef GroupLocalPlan<RoadmapType> GroupWeightType;
  typedef GroupRoadmap<GroupCfgType, GroupWeightType> GroupRoadmapType;
  typedef std::vector<GroupCfgType> GroupCfgPath;
 
 
  typedef std::pair<GroupWeightType, GroupWeightType> LPEdge;
 
 
  GroupRoadmapType* m_groupRoadmap{nullptr}; // Group this local plan is for.
 
  GroupCfgPath m_path;           // Path found by local planner.
  GroupCfgPath m_intermediates;
 
  LPEdge m_edge;                   // Contains weights of edges defined in path.
 
 
  GroupLPOutput(GroupRoadmapType* const _map = nullptr,
      GroupCfgPath _path = GroupCfgPath(),
      GroupCfgPath _intermediates = GroupCfgPath());
 
  // Copies _edge in to both members of the edge pair, then reverses the
  // m_intermediates vector of the second element.
  GroupLPOutput(GroupRoadmapType* const _map, const GroupWeightType& _edge);
 
 
  void Clear();
 
  void SetLPLabel(const std::string& _label);
 
  void AddIntermediatesToWeights(const bool _saveIntermediates);
 
  void SetFormation(const std::vector<size_t>& _formation);
 
  void SetIndividualEdges(const std::vector<size_t>& _formation);
 
  std::vector<size_t> GetFormation() {return m_edge.first.GetFormation();}
 
  // void SetSkipEdge();
 
  void SetEdgeWeights(const double _weight);
 
 
};
 
#endif