WorkspaceSkeleton.h

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#ifndef PMPL_WORKSPACE_SKELETON_H_
#define PMPL_WORKSPACE_SKELETON_H_
 
#include "ConfigurationSpace/Cfg.h"
#include "ConfigurationSpace/GenericStateGraph.h"
#include "ConfigurationSpace/Weight.h"
#include "Geometry/Boundaries/Boundary.h"
 
#include <containers/sequential/graph/directed_preds_graph.h>
 
#include "Vector.h"
 
#include <queue>
#include <set>
#include <unordered_map>
#include <string>
 
 
class WorkspaceSkeleton : public GenericStateGraph<mathtool::Point3d, std::vector<mathtool::Point3d>> {
 
  public:
 
 
    typedef GenericStateGraph<mathtool::Point3d, std::vector<mathtool::Point3d>> BaseType;
 
    typedef BaseType::VID             VD;
    typedef BaseType::EID             ED;
    typedef typename BaseType::VI     vertex_iterator;
    typedef typename BaseType::VID    vertex_descriptor;
    typedef typename BaseType::EI     adj_edge_iterator;
 
    // Interface with CompositeState, CompositeEdge
    typedef mathtool::Point3d                        CfgType;
    typedef std::vector<mathtool::Point3d>           EdgeType;
 
 
    WorkspaceSkeleton();
 
 
    vertex_iterator FindNearestVertex(const mathtool::Point3d& _target);
 
    vertex_iterator FindVertex(const VD _vertexDescriptor);
 
    adj_edge_iterator FindEdge(const ED& _edgeDescriptor);
 
 
    WorkspaceSkeleton Direct(const mathtool::Point3d& _start);
 
    void Prune(const mathtool::Point3d& _goal);
 
    void RefineEdges(double _maxLength);
 
    void DoubleEdges();
 
 
 
    void Write(const std::string& _file);
 
 
    void Read(const std::string& _file);
 
 
  private:
 
 
    bool m_debug{false};  
 
    VD m_start{std::numeric_limits<VD>::max()};
 
};
 
#endif