TSPSearch.h

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#ifndef TSPSearch_H_
#define TSPSearch_H_

#include <ros/ros.h>
#include <vector>
#include <string>
#include <Eigen/Core>
using namespace std;

class TSPSearch {

public:
    TSPSearch();

    std::string file_tsp_result_;
    std::string file_tsp_problem_;
    std::string file_tsp_param_;
    std::vector<std::vector<double> > edge_weights_;
    std::vector<unsigned int> valid_cell_indices_;

    void writeToLog(std::string logfile);
    void writeToTSPFile(const Eigen::MatrixXf& weights);
    void tokenize(const string& str, vector<string>& tokens, const string& delimiters);
    void readResultTSPFile(std::vector<unsigned int>& traj);
    bool callTSPSolver();
};




#endif /* TSPSearch_H_ */