GroupPRM.h

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#ifndef PMPL_GROUP_PRM_H_
#define PMPL_GROUP_PRM_H_
 
#include "GroupStrategyMethod.h"
 
#include "Geometry/Boundaries/CSpaceBoundingBox.h"
#include "Utilities/XMLNode.h"
 
 
class GroupPRM : public GroupStrategyMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType      GroupCfgType;
    typedef typename MPBaseObject::GroupRoadmapType  GroupRoadmapType;
    typedef typename GroupRoadmapType::VID           VID;
 
 
    struct SamplerSetting {
      std::string label;   
      size_t count;        
      size_t attempts;     
    };
 
 
    GroupPRM();
 
    GroupPRM(XMLNode& _node);
 
    virtual ~GroupPRM() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
    virtual void Initialize() override;
 
 
  protected:
 
 
    virtual void Iterate() override;
 
 
    std::vector<VID> Sample();
 
    void Connect(const std::vector<VID>& _vids);
 
 
    std::vector<SamplerSetting> m_samplers;
    std::vector<std::string> m_connectorLabels;
 
 
};
 
#endif