LPSweptDistance.h

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#ifndef PMPL_LP_SWEPT_DISTANCE_H_
#define PMPL_LP_SWEPT_DISTANCE_H_
 
#include "DistanceMetricMethod.h"
 
 
class LPSweptDistance : virtual public DistanceMetricMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType GroupCfgType;
 
 
    LPSweptDistance(string _lpLabel="sl", double _positionRes = 0.1,
        double _orientationRes = 0.1, bool _bbox = false);
    LPSweptDistance(XMLNode& _node);
    virtual ~LPSweptDistance() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
 
    virtual double Distance(const Cfg& _c1, const Cfg& _c2) override;
 
 
  protected:
 
 
    double SweptDistance(const std::vector<GMSPolyhedron>& _poly1,
        const std::vector<GMSPolyhedron>& _poly2);
 
 
    string m_lpLabel;         
    double m_positionRes;     
    double m_orientationRes;  
    bool m_useBBox;           
 
};
 
#endif