PathStrategy.h

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#ifndef PATH_STRATEGY_H_
#define PATH_STRATEGY_H_
 
#include "MPStrategyMethod.h"
 
#include "Utilities/XMLNode.h"
 
class PathStrategy : public MPStrategyMethod {
 public:
 
  typedef typename MPBaseObject::RoadmapType RoadmapType;
  typedef typename RoadmapType::VID VID;
  typedef typename RoadmapType::VertexSet VertexSet;
 
 
  PathStrategy();
  PathStrategy(XMLNode& _node);
 
 
  virtual void Print(ostream& _os) const override;
 
 
  virtual void Initialize() override;
  virtual void Run() override;
  virtual void Finalize() override;
 
 
 protected:
 
  void getUserPaths();
 
  bool ValidateCfg(Cfg& _cfg);
 
  Cfg RandomNearNode(Cfg& _invalidNode, Cfg& _nextNode, Cfg& _lastValidNode);
 
  void AddToRoadmap(vector<Point3d>& _points, vector<VID>& _vids);
 
  void ConnectPath(const vector<VID>& _vids);
 
  bool ConnectCC(VID _vid1, VID _vid2);
 
  void ConnectCCs();
 
 
 private:
 
  string m_vcLabel{"pqp_solid"};  
  string m_dmLabel{"euclidean"};  
  string m_lpLabel{"sl"};         
  string m_ncLabel{"Closest"};    
  string m_nfLabel{"BFNF"};       
 
 
  vector<vector<Point3d>> m_userPaths;  
  vector<VID> m_endPoints;              
  string m_UserPathsFilename;           
  double m_radius;                      
 
};
 
#endif