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aa_sipp_o.h
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aa_sipp_o.h
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#ifndef AA_SIPP_O_H
#define AA_SIPP_O_H
#include "cSearch.h"
#include "constraints_o.h"
#include "constraints.h"
#include "StatesContainer.h"
#include <iomanip>
class AA_SIPP_O
{
public:
AA_SIPP_O(double weight, bool breakingties);
~AA_SIPP_O();
ResultPathInfo findPath(cLogger *Log, const SearchResult &sresult, const cMap &Map);
void copy_constraints(const SectionConstraints &cons){constraints.copy(cons.safe_intervals, cons.constraints);}
private:
double calculateDistanceFromCellToCell(double start_i, double start_j, double fin_i, double fin_j);
void findSuccessors(const Node curNode, const cMap &Map, std::list<Node> &succs, int numOfCurAgent){}
void makePrimaryPath(Node curNode);
void makeSecondaryPath(Node curNode);
void calculateLineSegment(std::vector<Node> &line, const Node &start, const Node &goal);
void initStates(int numOfCurAgent, const cMap &Map);
void addConstraints(){}
std::vector<conflict> CheckConflicts();//bruteforce checker. It splits final(already built) trajectories into sequences of points and checks distances between them
double weight;
bool breakingties;
int constraints_type;
unsigned int closeSize, openSize;
std::list<Node> lppath;
std::vector<Node> hppath;
Constraints_o constraints;
StatesContainer states;
};
#endif // AA_SIPP_O_H