29 #ifndef COLLISION_RESOLUTION_H 30 #define COLLISION_RESOLUTION_H 58 virtual std::vector<std::reference_wrapper<Vertex>>
resolve(
Vertex &_current,
Vertex &_next, int32_t _collision) = 0;
virtual std::vector< std::reference_wrapper< Vertex > > resolve(Vertex &_current, Vertex &_next, int32_t _collision)=0
resolves a found collision between two robots.
virtual const std::vector< uint32_t > & getRobotCollisions() const =0
returns amount of robot collisions found in each resolve try after resetSession
virtual void saveCollision(const uint32_t _coll)=0
increases the collision count of one robot
virtual void resetSession(const RouteCoordinatorWrapper *_route_querry, const PotentialCalculator *_pCalc, const uint32_t _robot_radius)=0
resets the session (setting the new route querry and potential calculator)