route_generator.h

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#ifndef ROUTE_GENERATOR_H
#define ROUTE_GENERATOR_H
 
#include <tuw_global_router/srr_utils.h>
#include <tuw_global_router/mrr_utils.h>
#include <tuw_global_router/route_coordinator.h>
#include <eigen3/Eigen/Dense>
 
namespace multi_robot_router
{
class RouteGenerator
{
  public:
    std::vector<std::vector<Checkpoint>> generatePath(const std::vector<std::vector<RouteVertex>> &_paths, const RouteCoordinator &routeQuerry_) const;
 
  private:
    //creates a Checkpoint from a route Vertex
    Checkpoint createElement(const RouteVertex &_element) const;
    //Analyzes a segment for preconditions depending a specific robot
    void addPreconditions(Checkpoint &_segment, const RouteVertex &_segToFind, const uint32_t _pathNr, const std::vector<std::vector<RouteVertex>> &_paths, const RouteCoordinator &routeQuerry_) const;
};
} // namespace multi_robot_router
 
#endif