LocalObstacleMap.h

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#ifndef LOCAL_OBSTACLE_MAP_H_
#define LOCAL_OBSTACLE_MAP_H_
 
#ifndef INVALID_VID
#define INVALID_VID (std::numeric_limits<size_t>::max())
#endif
 
#ifndef INVALID_EID
#define INVALID_EID (std::numeric_limits<size_t>::max())
#endif
 
#include "ConfigurationSpace/GenericStateGraph.h"
#include "ConfigurationSpace/Cfg.h"
#include "ConfigurationSpace/Weight.h"
#include "Utilities/MetricUtils.h"
#include "Utilities/PMPLExceptions.h"
 
#include <unordered_map>
#include <unordered_set>
 
 
class LocalObstacleMap final {
 
  public:
 
    
    typedef GenericStateGraph<Cfg, DefaultWeight<Cfg>> RoadmapType;
    typedef size_t VID;
 
 
    typedef std::unordered_set<VID>            VertexSet;
    typedef std::unordered_map<VID, VertexSet> MapType;
 
 
    LocalObstacleMap(StatClass* const _stats);
 
 
    const VertexSet& Get(const VID& _vid) const;
 
    template <typename ContainerType>
    const VertexSet Get(const ContainerType& _c) const;
 
    const VertexSet& Inverse(const VID& _vid) const;
 
    template <typename ContainerType>
    const VertexSet Inverse(const ContainerType& _c) const;
 
 
    void Add(const VID& _obst, const VID& _free);
 
    template <typename ContainerType>
    void Add(const ContainerType& _obst, const VID& _free);
 
    template <typename ContainerType>
    void Add(const VID& _obst, const ContainerType& _free);
 
    template <typename ContainerType>
    void Add(const ContainerType& _obst, const ContainerType& _free);
 
 
    void Delete(const VID& _obst = INVALID_VID, const VID& _free = INVALID_VID);
 
    template <typename ContainerType>
    void Delete(const VID& _obst, const ContainerType& _free);
 
    template <typename ContainerType>
    void Delete(const ContainerType& _obst, const VID& _free = INVALID_VID);
 
    template <typename ContainerType>
    void Delete(const ContainerType& _obst, const ContainerType& _free);
 
 
  private:
 
 
    MapType m_map;     
    MapType m_inverse; 
 
    StatClass* m_stats{nullptr};          
 
    static constexpr bool s_debug{false}; 
 
};
 
#endif