RewireConnector.h

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#ifndef PMPL_REWIRE_CONNECTOR_H_
#define PMPL_REWIRE_CONNECTOR_H_
 
#include "ConnectorMethod.h"
 
class RewireConnector : virtual public ConnectorMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType      GroupCfgType;
    typedef typename MPBaseObject::WeightType        WeightType;
    typedef typename MPBaseObject::GroupWeightType   GroupWeightType;
    typedef typename MPBaseObject::RoadmapType       RoadmapType;
    typedef typename MPBaseObject::GroupRoadmapType  GroupRoadmapType;
    typedef typename RoadmapType::VID            VID;
    typedef typename RoadmapType::VertexSet      VertexSet;
 
 
    struct RewireTestOutput {
      bool               passed{false}; 
      LPOutput lpo;           
      double             cost{0};       
 
      RewireTestOutput(const bool _passed = false,
          LPOutput&& _lpo = LPOutput(),
          const double _cost = 0) :
          passed(_passed),
          lpo(_lpo),
          cost(_cost)
      { }
    };
 
    struct GroupRewireTestOutput {
      bool               passed{false}; 
      GroupLPOutput lpo;      
      double             cost{0};       
 
      GroupRewireTestOutput(const bool _passed = false,
          GroupLPOutput&& _lpo = GroupLPOutput(),
          const double _cost = 0) :
          passed(_passed),
          lpo(_lpo),
          cost(_cost)
      { }
    };
 
    template <typename AbstractRoadmapType>
    using OutputIterator = typename ConnectorMethod::template
                           OutputIterator<AbstractRoadmapType>;
 
 
    RewireConnector();
 
    RewireConnector(XMLNode& _node);
 
    virtual ~RewireConnector() = default;
 
 
  protected:
 
 
    virtual void ConnectImpl(RoadmapType* const _r, const VID _source,
        const VertexSet* const _targetSet = nullptr,
        OutputIterator<RoadmapType>* const _collision = nullptr) override;
 
    virtual void ConnectImpl(GroupRoadmapType* const _r, const VID _source,
        const VertexSet* const _targetSet = nullptr,
        OutputIterator<GroupRoadmapType>* const _collision = nullptr) override;
 
    using ConnectorMethod::m_neighborBuffer;
 
 
  private:
 
 
    void RewireVertex(RoadmapType* const _r, const VID _vid,
        const std::vector<Neighbor>& _neighbors,
        OutputIterator<RoadmapType>* const _collision);
 
    void RewireVertex(GroupRoadmapType* const _r, const VID _vid,
        const std::vector<Neighbor>& _neighbors,
        OutputIterator<GroupRoadmapType>* const _collision);
 
    void RewireNeighbors(RoadmapType* const _r, const VID _vid,
        const std::vector<Neighbor>& _neighbors,
        OutputIterator<RoadmapType>* const _collision);
 
    void RewireNeighbors(GroupRoadmapType* const _r, const VID _vid,
        const std::vector<Neighbor>& _neighbors,
        OutputIterator<GroupRoadmapType>* const _collision);
 
    RewireTestOutput RewireTest(RoadmapType* const _r, const VID _vid,
        const VID _currentParent, const double _currentCost,
        const VID _potentialParent, const double _potentialParentCost,
        OutputIterator<RoadmapType>* const _collision) noexcept;
 
    GroupRewireTestOutput RewireTest(GroupRoadmapType* const _r, const VID _vid,
        const VID _currentParent, const double _currentCost,
        const VID _potentialParent, const double _potentialParentCost,
        OutputIterator<GroupRoadmapType>* const _collision) noexcept;
 
    double ShortestPathWeight(const RoadmapType* const _r,
        const VID _vid) const noexcept;
 
    double ShortestPathWeight(const GroupRoadmapType* const _r,
        const VID _vid) const noexcept;
 
    double EdgeWeight(const RoadmapType* const _r, const VID _source,
        const VID _target) const noexcept;
 
    double EdgeWeight(const GroupRoadmapType* const _r, const VID _source,
        const VID _target) const noexcept;
 
    double EdgeWeight(const WeightType& _w, const Robot* const _robot) const
        noexcept;
 
    void ChangeParent(RoadmapType* const _r, const VID _vid,
        const VID _oldParent, const VID _newParent, const WeightType& _newLp,
        const double _newCost) const noexcept;
 
    void ChangeParent(GroupRoadmapType* const _r, const VID _vid,
        const VID _oldParent, const VID _newParent, const GroupWeightType& _newLp,
        const double _newCost) const noexcept;
 
 
    std::string m_nfLabel;        
    std::string m_operatorLabel;  
    std::string m_objectiveLabel; 
 
    std::function<double(const double&, const double&)> m_operator;
    std::function<double(const double&, const double&)> m_objective;
 
    std::unordered_map<VID, double> m_distanceBuffer;
 
 
};
 
#endif