Path.h

Go to the documentation of this file.

#ifndef PMPL_PATH_H_
#define PMPL_PATH_H_
 
#include "ConfigurationSpace/GenericStateGraph.h"
#include "ConfigurationSpace/Cfg.h"
#include "ConfigurationSpace/Weight.h"
 
// #include "MPLibrary/MPLibrary.h"
#include "Utilities/PMPLExceptions.h"
 
// #include <algorithm>
// #include <vector>
 
class MPLibrary;
 
 
class Path final {
 
  public:
 
 
    typedef GenericStateGraph<Cfg, DefaultWeight<Cfg>> RoadmapType;
    typedef typename RoadmapType::VID        VID;
 
 
    Path(RoadmapType* const _r = nullptr);
 
 
    Robot* GetRobot() const noexcept;
 
    RoadmapType* GetRoadmap() const noexcept;
 
    size_t Size() const noexcept;
 
    bool Empty() const noexcept;
 
    double Length() const;
 
    const std::vector<VID>& VIDs() const noexcept;
 
        const std::pair<std::vector<VID>,std::vector<size_t>> VIDsWaiting() const noexcept;
 
    const std::vector<Cfg>& Cfgs() const;
 
    const std::vector<Cfg> FullCfgs(MPLibrary* const _lib) const;
 
    const std::vector<Cfg> FullCfgsWithWait(MPLibrary* const _lib) const;
 
    size_t TimeSteps() const;
 
    void SetTimeSteps(size_t _timesteps);
 
    void ResetTimeSteps();
 
    Path& operator+=(const Path& _p);
 
    Path operator+(const Path& _p) const;
 
    Path& operator+=(const std::vector<VID>& _vids);
 
    Path operator+(const std::vector<VID>& _vids) const;
 
    Path& operator=(const Path& _p);
 
    void Clear();
 
    void FlushCache();
 
    void SetFinalWaitTimeSteps(const size_t& _timeSteps);
 
    const size_t GetFinalWaitTimeSteps() const;
 
    void SetWaitTimes(std::vector<size_t> _waitTimes);
 
    std::vector<size_t> GetWaitTimes();
 
    std::pair<std::pair<size_t,size_t>,std::pair<size_t,size_t>> 
                        GetEdgeAtTimestep(size_t _timestep);
 
 
  private:
 
 
    void AssertSameMap(const Path& _p) const noexcept;
 
 
    RoadmapType* const m_roadmap;        
    std::vector<VID> m_vids;             
    std::vector<size_t> m_waitingTimesteps; 
 
    mutable std::vector<Cfg> m_cfgs; 
    mutable bool m_cfgsCached{false};    
 
    mutable double m_length{0};          
    mutable bool m_lengthCached{false};  
 
        size_t m_finalWaitTimeSteps{0}; 
 
    mutable size_t m_timesteps{0};
    mutable bool m_timestepsCached{false};
 
};
 
#endif