HierarchicalLP.h

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#ifndef HIERARCHICAL_LP_H_
#define HIERARCHICAL_LP_H_
 
#include "LPOutput.h"
#include "LocalPlannerMethod.h"
 
class HierarchicalLP : virtual public LocalPlannerMethod {
 public:
 
  typedef typename MPBaseObject::WeightType WeightType;
 
 
  HierarchicalLP(const vector<string>& _lpLabels = vector<string>(),
                 bool _saveIntermediates = false);
 
  HierarchicalLP(XMLNode& _node);
 
 
  virtual void Print(ostream& _os) const;
 
  virtual bool IsConnected(const Cfg& _c1,
                           const Cfg& _c2,
                           Cfg& _col,
                           LPOutput* _lpOutput,
                           double _posRes,
                           double _oriRes,
                           bool _checkCollision = true,
                           bool _savePath = false);
 
 
 private:
 
  std::vector<string> m_lpLabels;
 
};
 
#endif