optimize_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 "optimize_path.h"
 
class OptimizeGenerator {
public:
    OptimizeGenerator(
            const std::vector<std::string> &expPathsFileNames, const std::vector<std::string> &algorithms
    );
 
    std::string buildStat();
 
    Json::Value optimizeRoutes();
 
    void generate(const std::string &routePath, const std::string &reportPath);
 
    Json::Value test(
            const std::shared_ptr<bmpf::PathOptimizer> &pathOptimizer, const std::vector<std::vector<double>> &path
    );
 
 
private:
    std::vector<std::string> _expPathsFileNames;
    std::shared_ptr<bmpf::PathFinder> _pathFinder;
    std::vector<std::shared_ptr<bmpf::PathOptimizer>> _pathOptimizers;
    std::vector<double> _secondsList;
    std::vector<double> _initialPathLengths;
    std::vector<double> _optimizedPathLengths;
    std::vector<std::string> _optimizeMethods;
    std::unordered_map<
            std::shared_ptr<bmpf::PathOptimizer>, std::vector<std::vector<std::vector<double>>>
    > pfPathsLists;
};