TogglePRMStrategy.h

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#ifndef PMPL_TOGGLE_PRM_STRATEGY_H_
#define PMPL_TOGGLE_PRM_STRATEGY_H_
 
#include "MPLibrary/MPStrategies/BasicPRM.h"
 
 
class TogglePRMStrategy : public BasicPRM {
 
  public:
 
 
    typedef typename MPBaseObject::RoadmapType   RoadmapType;
    typedef typename RoadmapType::VID            VID;
    typedef typename BasicPRM::SamplerSetting    SamplerSetting;
 
 
    typedef std::deque<std::pair<bool, Cfg>> ToggleQueue;
 
 
    TogglePRMStrategy();
 
    TogglePRMStrategy(XMLNode& _node);
 
    virtual ~TogglePRMStrategy() = default;
 
 
    virtual void Print(std::ostream& _os) const override;
 
 
  protected:
 
 
    virtual void Initialize() override;
 
    virtual void Iterate() override;
 
 
    void GenerateNodes();
 
    void ConnectHelper(const bool _valid, const VID _vid);
 
    void Enqueue(const Cfg& _cfg);
 
 
 
    std::vector<std::string> m_colConnectorLabels;
    std::string m_vcLabel;     
 
    bool m_priority{false};    
 
    ToggleQueue m_queue;   
 
 
};
 
#endif