PathEvaluator.h

Go to the documentation of this file.

#ifndef PMPL_PATH_EVALUATOR_H
#define PMPL_PATH_EVALUATOR_H
 
#include "MapEvaluatorMethod.h"
 
class PathEvaluator : public MapEvaluatorMethod {
 
    public:
 
 
    typedef typename MPBaseObject::RoadmapType      RoadmapType;
    typedef typename RoadmapType::VID               VID;
 
 
 
    PathEvaluator();
 
    PathEvaluator(XMLNode& _node);
 
    virtual ~PathEvaluator() = default;
 
 
 
    virtual void Initialize() override;
 
 
    virtual bool operator()() override;
 
 
    protected:
 
    private:
 
    std::vector<double> GetClearanceStats(const Path* path);
 
    double GetPathLength(const Path* path);
 
    std::string m_cuLabel{}; // Clearance Utility (MPTool)
    std::string m_ievcLabel{}; // Intermediates Edge Validity Checker
    std::string m_dmLabel{}; // Distance Metric 
 
    // Why copy/paste when you could write a bunch of helper functions instead?
    // Each of these functions adds (key, value) to this's stat class
    // and prints them to std::cout. 
    // You can find statistics in the .stat output file. 
    void AddToStats(std::string _key, double _value);
    inline void AddToStats(std::string _key, int _value) { AddToStats(_key, (double)_value); };
    inline void AddToStats(std::string _key, bool _value) { AddToStats(_key, (double)_value); };
    inline void AddToStats(std::string _key, size_t _value) { AddToStats(_key, (double)_value); };
 
 
};
 
#endif