ShortcutOptimizer.h

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// -*- C++ -*-
#ifndef __SHORTCUT_OPTIMIZER_H_
#define __SHORTCUT_OPTIMIZER_H_

#include "Optimizer.h"

namespace PathEngine{
  class ShortcutOptimizer : public Optimizer
  {
  public:
    ShortcutOptimizer(PathPlanner *planner) : Optimizer(planner) {}

    virtual ~ShortcutOptimizer() {}

    std::vector<Configuration> optimize(const std::vector<Configuration> &path);
  };
};

#endif