NodeClearanceValidity.h

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#ifndef PMPL_NODE_CLEARANCE_VALIDITY_H
#define PMPL_NODE_CLEARANCE_VALIDITY_H
 
#include "ValidityCheckerMethod.h"
 
class NodeClearanceValidity : virtual public ValidityCheckerMethod {
 public:
 
  typedef typename MPBaseObject::RoadmapType RoadmapType;
  typedef typename RoadmapType::VID VID;
 
 
  NodeClearanceValidity();
 
  NodeClearanceValidity(XMLNode& _node);
 
  virtual ~NodeClearanceValidity() = default;
 
 
  virtual void Print(std::ostream& _os) const override;
 
 
  virtual bool IsValidImpl(Cfg& _cfg,
                           CDInfo& _cdInfo,
                           const std::string& _callName) override;
 
 
 protected:
 
  double m_minClearance;  
  std::string m_nfLabel;  
 
};
 
#endif