Optimizer.h

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// -*- C++ -*-

#ifndef __OPTIMIZER_H
#define __OPTIMIZER_H

#include <vector>
#include "Configuration.h"

namespace PathEngine {
  class Optimizer;
  class PathPlanner;

  typedef Optimizer* (*OptimizerNewFunc)(PathPlanner* planner);

  typedef void (*OptimizerDeleteFunc)(Optimizer* optimizer);

  template <class _New>
  Optimizer* OptimizerCreate(PathPlanner* planner) {
    return new _New(planner);
  }

  template <class _Delete>
  void OptimizerDelete(Optimizer* optimizer) {
    delete optimizer;
  }

  class Optimizer {
  public:
    Optimizer(PathPlanner* planner) : planner_(planner) {}

    virtual ~Optimizer() {}

    virtual std::vector<Configuration> optimize(const std::vector<Configuration> &path)=0;
  protected:
    PathPlanner *planner_;
  };
};

#endif