00001 // -*- C++ -*- 00002 #ifndef __RANDOM_SHORTCUT_OPTIMIZER_H_ 00003 #define __RANDOM_SHORTCUT_OPTIMIZER_H_ 00004 00005 #include "Optimizer.h" 00006 00007 namespace PathEngine{ 00011 class RandomShortcutOptimizer : public Optimizer 00012 { 00013 public: 00017 RandomShortcutOptimizer(PathPlanner *planner) : Optimizer(planner) {} 00018 00022 virtual ~RandomShortcutOptimizer() {} 00023 00027 std::vector<Configuration> optimize(const std::vector<Configuration> &path); 00028 }; 00029 }; 00030 00031 #endif