empty_resolution.h

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#ifndef EMPTY_RESOLUTION_H
#define EMPTY_RESOLUTION_H
 
#include <tuw_global_router/srr_utils.h>
#include <tuw_global_router/route_coordinator.h>
#include <tuw_global_router/collision_resolution.h>
 
namespace multi_robot_router
{
class EmptyResolution : public CollisionResolution
{
  public:
    EmptyResolution();
 
    void resetSession(const RouteCoordinatorWrapper *_route_querry, const PotentialCalculator *_pCalc, const uint32_t _robot_radius);
    std::vector<std::reference_wrapper<Vertex>> resolve(Vertex &_current, Vertex &_next, int32_t _collision);
    const std::vector<uint32_t> &getRobotCollisions() const;
    void saveCollision(const uint32_t _coll);
 
  private:
    void addCollision(uint32_t _collision);
    std::vector<std::reference_wrapper<Vertex>> foundSolutions_;
    std::vector<uint32_t> encounteredCollisions_;
};
} // namespace multi_robot_router
#endif // HEURISTIC_H