SafeIntervalTool.h

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#ifndef PMPL_SAFE_INTERVAL_TOOL_H_
#define PMPL_SAFE_INTERVAL_TOOL_H_
 
#include "MPLibrary/MPBaseObject.h"
#include "Utilities/XMLNode.h"
 
class SafeIntervalTool final : public MPBaseObject {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType        RoadmapType;
    typedef typename MPBaseObject::WeightType         WeightType;
    typedef typename RoadmapType::VID                 VID;
 
 
    typedef std::vector<Range<double>> Intervals; 
 
 
    SafeIntervalTool();
 
    SafeIntervalTool(XMLNode& _node);
 
    virtual ~SafeIntervalTool();
 
 
    virtual void Initialize() override;
 
 
    Intervals ComputeIntervals(const Cfg& _cfg);
 
    Intervals ComputeIntervals(const WeightType& _weight, const VID _source,
      const VID _target, RoadmapType* _roadmap);
 
 
    bool ContainsTimestep(const Intervals& _intervals, const double _timestep);
 
 
  private:
 
 
    bool IsSafe(const Cfg& _cfg, const double _timestep);
 
    Intervals ComputeSafeIntervals(const std::vector<Cfg>& _cfgs);
 
 
    std::string m_vcLabel; 
 
    std::unordered_map<const Cfg*, Intervals> m_cfgIntervals;
 
    std::unordered_map<const WeightType*, Intervals> m_edgeIntervals;
 
};
 
#endif