IntermediatesEdgeValidityChecker.h

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#ifndef INTERMEDIATE_EDGE_VALIDITY_CHECKER_H_
#define INTERMEDIATE_EDGE_VALIDITY_CHECKER_H_
 
#include "EdgeValidityCheckerMethod.h"
 
class IntermediatesEdgeValidityChecker : public EdgeValidityCheckerMethod {
 
  public:
 
    typedef typename MPBaseObject::RoadmapType           RoadmapType;
    typedef typename RoadmapType::VID                VID;
    typedef typename RoadmapType::EID                EID;
    typedef typename RoadmapType::adj_edge_iterator  EI;
 
    IntermediatesEdgeValidityChecker();
    IntermediatesEdgeValidityChecker(XMLNode& _node);
 
    void Initialize() override;
 
 
    bool ValidateEdge(VID _u, VID _v, std::vector<size_t>& _collisions) override;
    bool ValidateEdge(Cfg& _c1, Cfg& _c2, std::vector<size_t>& _collisions) override;
 
    double EdgeWeightedClearance(VID _u, VID _v);
    double EdgeWeightedClearance(Cfg& _c1, Cfg& _c2);
 
 
  private:
 
 
 
    double HandleIntermediates(std::vector<Cfg>& _intermediates, std::vector<size_t>& _collisions, bool _reportClearance = false);
 
    double intermediateClearance(std::vector<Cfg>& _intermediates);
 
 
 
    string m_lpLabel;                 
 
    string m_vcLabel;                 
    bool m_overrideLp{false};          
};
 
#endif