LocalPlannerMethod.h

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#ifndef PMPL_LOCAL_PLANNER_METHOD_H_
#define PMPL_LOCAL_PLANNER_METHOD_H_
 
#include "MPLibrary/LocalPlanners/LPOutput.h"
#include "MPLibrary/LocalPlanners/GroupLPOutput.h"
#include "MPLibrary/MPBaseObject.h"
 
class LocalPlannerMethod : public MPBaseObject {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType GroupCfgType;
    typedef typename GroupCfgType::Formation Formation;
 
 
    LocalPlannerMethod(bool _saveIntermediates = false);
 
    LocalPlannerMethod(XMLNode& _node);
 
    virtual ~LocalPlannerMethod() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
 
    virtual bool IsConnected(const Cfg& _start, const Cfg& _end,
        Cfg& _col, LPOutput* _lpOutput, double _posRes,
        double _oriRes, bool _checkCollision = true, bool _savePath = false) = 0;
 
    bool IsConnected(const Cfg& _start, const Cfg& _end,
        LPOutput* _lpOutput, double _posRes, double _oriRes,
        bool _checkCollision = true, bool _savePath = false);
 
    virtual bool IsConnected(const GroupCfgType& _start, const GroupCfgType& _end,
        GroupCfgType& _col, GroupLPOutput* _lpOutput, double _posRes,
        double _oriRes, bool _checkCollision = true, bool _savePath = false,
        const Formation& _formation = Formation());
 
    bool IsConnected(const GroupCfgType& _start, const GroupCfgType& _end,
        GroupLPOutput* _lpOutput, double _posRes, double _oriRes,
        bool _checkCollision = true, bool _savePath = false,
        const Formation& _formation = Formation());
 
    std::vector<Cfg> BlindPath(const std::vector<Cfg>& _waypoints,
        const double _posRes, const double _oriRes);
 
    std::vector<Cfg> BlindPath(const std::vector<Cfg>& _waypoints);
 
    std::vector<GroupCfgType> BlindPath(
        const std::vector<GroupCfgType>& _waypoints, const double _posRes,
        const double _oriRes, const Formation& _formation = Formation());
 
    std::vector<GroupCfgType> BlindPath(
        const std::vector<GroupCfgType>& _waypoints,
        const Formation& _formation = Formation());
 
 
  protected:
 
 
    bool m_saveIntermediates{false}; 
 
};
 
#endif