GroupQuery.h

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#ifndef PMPL_GROUP_QUERY_H_
#define PMPL_GROUP_QUERY_H_
 
#include "QueryMethod.h"
 
#include "Utilities/SSSP.h"
 
class GroupQuery final : public MapEvaluatorMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType       GroupCfgType;
    typedef typename MPBaseObject::GroupRoadmapType   GroupRoadmapType;
    typedef typename MPBaseObject::GroupWeightType    WeightType;
    typedef typename GroupRoadmapType::VID            VID;
    typedef std::unordered_set<VID>                   VIDSet;
 
 
    GroupQuery();
    GroupQuery(XMLNode& _node);
    virtual ~GroupQuery() = default;
 
 
    virtual void Initialize() override;
 
 
    virtual bool operator()() override;
 
 
    std::vector<VID> GeneratePath(const VID _start, const VIDSet& _end);
 
    virtual void SetPathWeightFunction(SSSPPathWeightFunction<GroupRoadmapType> _f);
 
 
  protected:
 
 
    void Reset(GroupRoadmapType* const _r);
 
    bool PerformSubQuery(const VID _start, const VIDSet& _goal);
 
    double StaticPathWeight(typename GroupRoadmapType::adj_edge_iterator& _ei,
        const double _sourceDistance, const double _targetDistance) const;
 
    double DynamicPathWeight(typename GroupRoadmapType::adj_edge_iterator& _ei,
        const double _sourceDistance, const double _targetDistance) const;
 
    //bool SameFormations(std::unordered_set<Formation*> _set1, std::unordered_set<Formation*> _set2);
 
 
    GroupRoadmapType* m_roadmap{nullptr};
 
    size_t m_goalIndex{0};             
 
    SSSPPathWeightFunction<GroupRoadmapType> m_weightFunction;
 
    std::string m_vcLabel;
 
 
};
 
#endif