ShortcuttingPathModifier.h

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#ifndef SHORT_CUTTING_PATH_MODIFIER_H_
#define SHORT_CUTTING_PATH_MODIFIER_H_
 
#include "PathModifierMethod.h"
 
class ShortcuttingPathModifier : public PathModifierMethod {
 
  public:
 
    typedef typename MPBaseObject::RoadmapType  RoadmapType;
    typedef typename RoadmapType::VID           VID;
 
    ShortcuttingPathModifier(const string& _dmLabel = "",
        const string& _lpLabel = "");
    ShortcuttingPathModifier(XMLNode& _node);
 
    virtual void ParseXML(XMLNode& _node);
    virtual void Print(ostream& _os) const;
 
    bool ModifyImpl(RoadmapType* _graph, std::vector<Cfg>& _path, std::vector<Cfg>& _newPath) override;
 
  private:
    string m_lpLabel; // Local planner
};
 
#endif