MPBaseObject.h

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#ifndef PMPL_MP_BASE_OBJECT_H_
#define PMPL_MP_BASE_OBJECT_H_
using namespace std;
 
#include "ConfigurationSpace/GenericStateGraph.h"
#include "ConfigurationSpace/GroupCfg.h"
#include "ConfigurationSpace/GroupRoadmap.h"
#include "ConfigurationSpace/Path.h"
#include "ConfigurationSpace/GroupPath.h"
 
#include "MPProblem/MPProblem.h"
#include "MPProblem/MPTask.h"
#include "Utilities/IOUtils.h"
#include "Utilities/MethodSet.h"
#include "Utilities/XMLNode.h"
 
#include "MPLibrary/MPSolution.h"
 
#include <iostream>
#include <string>
 
template <typename Vertex, typename Edge> class GenericStateGraph;
class Environment;
class MPTask;
class StatClass;
class MPLibrary;
 
class MPBaseObject {
 
  public:
 
 
    typedef DefaultWeight<Cfg> WeightType;
    typedef GenericStateGraph<Cfg, WeightType> RoadmapType;
    typedef GroupCfg<RoadmapType> GroupCfgType;
    typedef GroupLocalPlan<RoadmapType> GroupWeightType;
    typedef GroupRoadmap<GroupCfgType, GroupWeightType> GroupRoadmapType;
 
 
    MPBaseObject(const std::string& _label = "", const std::string& _name = "",
        bool _debug = false);
 
    MPBaseObject(XMLNode& _node);
 
    virtual ~MPBaseObject();
 
 
    virtual void Print(std::ostream& _os) const;
 
 
    virtual void Initialize() {}
 
 
    const std::string& GetName() const;
 
    const std::string& GetLabel() const;
 
    std::string GetNameAndLabel() const;
 
    void SetLabel(const std::string&);
 
 
    void SetMPLibrary(MPLibrary*) noexcept;
 
    MPLibrary* GetMPLibrary() const noexcept;
 
    bool IsRunning() const noexcept;
 
 
    MPProblem* GetMPProblem() const noexcept;
 
    Environment* GetEnvironment() const noexcept;
 
    MPTask* GetTask() const noexcept;
 
    GroupTask* GetGroupTask() const noexcept;
 
 
    MPSolutionType* GetMPSolution() const noexcept;
 
    RoadmapType* GetRoadmap(Robot* const _r = nullptr) const noexcept;
 
    GroupRoadmapType* GetGroupRoadmap(RobotGroup* const _g = nullptr) const
        noexcept;
 
    RoadmapType* GetBlockRoadmap(Robot* const _r = nullptr) const noexcept;
 
    // /// Get the current best path.
    Path* GetPath(Robot* const _r = nullptr) const noexcept;
 
    GroupPath* GetGroupPath(RobotGroup* const _g = nullptr) const noexcept;
 
    StatClass* GetStatClass() const noexcept;
 
    LocalObstacleMap* GetLocalObstacleMap() const noexcept;
 
 
  protected:
 
    void SetName(const std::string& _s) {m_name = _s;}
 
    const std::string& GetBaseFilename() const;
 
    bool m_debug;                  
 
  private:
 
    std::string m_name;            
    std::string m_label;           
    MPLibrary* m_library{nullptr}; 
 
    template<typename U> friend class MethodSet;
};
 
#endif