generator.h

#pragma once
 
#include <base/path_finder.h>
#include <string>
#include <vector>
#include <chrono>
#include <fstream>
#include <json/json.h>
#include <memory>
#include <climits>
#include <utility>
#include <log.h>
#include <base/path_finder.h>
#include <urdf_robot.h>
#include <solid_collider.h>
#include "one_direction_path_finder.h"
#include "one_direction_ordered_path_finder.h"
#include "state.h"
#include "all_directions_path_finder.h"
#include "base/path_finder.h"
 
class Generator {
public:
    Generator(
            const std::string &scenePath, const std::vector<std::string> &algorithms,
            unsigned int gridSize, bool trace
    );
 
    std::string buildStat();
 
    Json::Value generateRoutes(unsigned int testCnt);
 
    void generate(const std::string &routePath, const std::string &reportPath, unsigned int testCnt);
 
    Json::Value test(const std::vector<double> &start, const std::vector<double> &end);
 
 
private:
    std::vector<std::shared_ptr<bmpf::PathFinder>> _pathFinders;
    std::vector<std::vector<double>> _startPoints;
    std::vector<std::vector<double>> _endPoints;
    std::vector<std::vector<double>> _secondsList;
    std::vector<std::vector<bool>> _isValid;
    std::vector<std::vector<int>> _errorCodes;
};