NeighborhoodConnector.h

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#ifndef PMPL_NEIGHBORHOOD_CONNECTOR_H_
#define PMPL_NEIGHBORHOOD_CONNECTOR_H_
 
#include "ConnectorMethod.h"
 
 
class NeighborhoodConnector: virtual public ConnectorMethod {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType       RoadmapType;
    typedef typename MPBaseObject::GroupCfgType      GroupCfgType;
    typedef typename MPBaseObject::GroupRoadmapType  GroupRoadmapType;
    typedef typename RoadmapType::VID            VID;
    typedef typename RoadmapType::VertexSet      VertexSet;
 
 
    template <typename AbstractRoadmapType>
    using OutputIterator = typename ConnectorMethod::template
                           OutputIterator<AbstractRoadmapType>;
 
 
    NeighborhoodConnector();
 
    NeighborhoodConnector(XMLNode& _node);
 
    virtual ~NeighborhoodConnector() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
 
  protected:
 
 
    virtual void ConnectImpl(RoadmapType* const _r, const VID _source,
        const VertexSet* const _targetSet = nullptr,
        OutputIterator<RoadmapType>* const _collision = nullptr) override;
 
    virtual void ConnectImpl(GroupRoadmapType* const _r, const VID _source,
        const VertexSet* const _targetSet = nullptr,
        OutputIterator<GroupRoadmapType>* const _collision = nullptr) override;
 
    using ConnectorMethod::m_neighborBuffer;
 
 
    std::string m_nfLabel;   
 
 
};
 
#endif