PathModifierMethod.h

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#ifndef PATH_MODIFIER_METHOD_H_
#define PATH_MODIFIER_METHOD_H_
 
#include "MPLibrary/MPBaseObject.h"
#include "Utilities/MPUtils.h"
#include "MPLibrary/LocalPlanners/LPOutput.h"
 
class PathModifierMethod : public MPBaseObject {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType RoadmapType;
    typedef typename RoadmapType::VID       VID;
 
 
    PathModifierMethod() = default;
 
    PathModifierMethod(XMLNode& _node);
 
    virtual ~PathModifierMethod() = default;
 
 
    virtual void Print(ostream& _os) const override;
 
 
    virtual void Modify(vector<Cfg>& _path,
        vector<Cfg>& _newPath);
 
    virtual void Modify(RoadmapType* _graph, vector<Cfg>& _path,
                        vector<Cfg>& _newPath);
 
  protected:
 
    virtual bool ModifyImpl(RoadmapType* _graph, vector<Cfg>& _path,
        vector<Cfg>& _newPath) = 0;
 
    void AddToPath(vector<Cfg>& _path, LPOutput* _lpOutput,
        Cfg& _end);
 
    vector<VID> GetPathVIDs(vector<Cfg>& _path, RoadmapType* _graph);
 
    void RemoveBranches(const string& _dmLabel, vector<Cfg>& _path,
        vector<Cfg>& _newPath);
 
  private:
 
    void OutputPath(vector<Cfg>& _path);
 
 
    string m_pathFile; 
 
};
 
#endif