MinimumDistanceEvaluator.h

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#ifndef MINIMUM_DISTANCE_EVALUATOR_H_
#define MINIMUM_DISTANCE_EVALUATOR_H_
 
#include <limits>
 
#include "MapEvaluatorMethod.h"
#include "Utilities/MetricUtils.h"
 
class MinimumDistanceEvaluator : virtual public MapEvaluatorMethod {
 public:
 
  typedef typename MPBaseObject::RoadmapType RoadmapType;
  typedef typename RoadmapType::VID VID;
 
 
  MinimumDistanceEvaluator(const double _timeout = 10,
                           const string _dmLabel = "",
                           const double _minDist = 1.0);
 
  MinimumDistanceEvaluator(XMLNode& _node);
 
  virtual ~MinimumDistanceEvaluator() = default;
 
 
  virtual void Initialize() override;
 
 
  virtual bool operator()() override;
 
 
 private:
 
  string m_dmLabel;                
  double m_minDist = 1.0;          
  bool m_minimumAchieved = false;  
  VID m_lastNode = 0;  
 
};
 
#endif