grid_manager.cpp

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#include "grid_manager.hpp"

namespace directSearchWS {

GridManager::GridManager(std::string initializedGridFilePath)
    : DirectSearchManager(), initializedGridFilePath(initializedGridFilePath){
}

GridManager::~GridManager()  { }

bool GridManager::resetHandler() {
    bool success = DirectSearchManager::resetHandler();
    success &= initHandler();
    return success;
}


bool GridManager::initHandler() {
    bool success = DirectSearchManager::parsePosesToExploreFromXML(initializedGridFilePath);

    DoFilterIteration concatFilterIteration(posesToExplorePtr);
    FilterBasicPtr concatApproxEqualePosesPtr =
            ConcatApproxEqualePosesPtr(new ConcatApproxEqualePoses(posesToExplorePtr, 0.0001, 0.0001, true));
    concatFilterIteration.addFilter(concatApproxEqualePosesPtr);
    success &= concatFilterIteration.doIteration();

    ROS_DEBUG_STREAM("Number of posesToExplore after concat poses: " << posesToExplorePtr->size());

    DirectSearchHandler::calculateRemainingPosesDistances();
    return success;
}

}