LazyQuery.h

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#ifndef PMPL_LAZY_QUERY_H_
#define PMPL_LAZY_QUERY_H_
 
#include "QueryMethod.h"
 
 
class LazyQuery : virtual public QueryMethod {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType      RoadmapType;
    typedef typename RoadmapType::VID               VID;
    typedef typename RoadmapType::EdgeID            EdgeID;
    typedef std::unordered_set<VID>                 VIDSet;
 
 
    LazyQuery();
    LazyQuery(XMLNode& _node);
    virtual ~LazyQuery() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
    virtual void Initialize() override;
 
 
    virtual void SetPathWeightFunction(SSSPPathWeightFunction<RoadmapType> _f)
        override;
 
 
  protected:
 
 
    typedef std::unordered_set<VID>    VertexSet;
    typedef std::unordered_set<EdgeID> EdgeSet;
 
 
    virtual void Reset(RoadmapType* const _r) override;
 
    virtual bool PerformSubQuery(const VID _start, const VIDSet& _goals)
        override;
 
    virtual double StaticPathWeight(
        typename RoadmapType::adj_edge_iterator& _ei,
        const double _sourceDistance, const double _targetDistance) const
        override;
 
    virtual double DynamicPathWeight(
        typename RoadmapType::adj_edge_iterator& _ei,
        const double _sourceDistance, const double _targetDistance) const
        override;
 
 
    bool ValidatePath();
 
    bool PruneInvalidVertices();
 
    bool PruneInvalidEdges();
 
    virtual void NodeEnhance();
 
    virtual void ProcessInvalidNode(const Cfg& _cfg) { }
 
    void InvalidateVertex(const VID _vid);
 
    void InvalidateEdge(const VID _source, const VID _target);
 
 
    void SetVertexInvalidated(const VID _vid) noexcept;
 
    bool IsVertexInvalidated(const VID _vid) const noexcept;
 
    bool IsEdgeInvalidated(const EdgeID _eid) const noexcept;
 
    bool IsEdgeInvalidated(const VID _source, const VID _target) const noexcept;
 
    void SetEdgeInvalidated(const EdgeID _eid) noexcept;
 
    void SetEdgeInvalidated(const VID _source, const VID _target) noexcept;
 
 
    std::string m_vcLabel;         
    std::string m_lpLabel;         
    std::string m_enhanceDmLabel;  
 
    std::vector<std::string> m_ncLabels; 
 
 
    bool m_deleteInvalid{true};   
 
    std::vector<int> m_resolutions{1}; 
    size_t m_numEnhance{0};       
    double m_d{0};                
 
    std::vector<std::pair<Cfg, Cfg>> m_edges;
 
    std::unordered_map<RoadmapType*, VertexSet> m_invalidVertices;
    std::unordered_map<RoadmapType*, EdgeSet> m_invalidEdges;
 
 
};
 
#endif