sort_helper.hpp

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#pragma once

#include <ros/ros.h>
#include "helper/pose_helper.hpp"
#include "model/robot_state.hpp"

namespace directSearchWS {

class SortHelper {

private:

    PoseHelperPtr poseHelperPtr;
    RobotStatePtrVecPtr &posesToExplorePtr;
    bool needreorderPosesByTSP;

public:

    SortHelper(RobotStatePtrVecPtr &posesToExplorePtr, bool needreorderPosesByTSP);

    void setNeedreorderPosesByTSP(bool needreorderPosesByTSP) {
        this->needreorderPosesByTSP = needreorderPosesByTSP;
    }

    void two_opt_and_update_distance(double &distance);
    void nearest_neighbour_and_update_distance(double &distance);

};

typedef boost::shared_ptr<SortHelper> SortHelperPtr;

}