optimize_path.h

#pragma once
 
 
#include <vector>
#include <memory>
#include "base/path_finder.h"
 
namespace bmpf {
    class PathOptimizer {
    public:
        explicit PathOptimizer(std::shared_ptr<bmpf::PathFinder> &pf, const std::string &optimizeMethod);
 
        virtual std::vector<std::vector<double>> optimizePath(std::vector<std::vector<double>> path) = 0;
 
        std::shared_ptr<bmpf::PathFinder> getPathFinder() { return _pf; }
 
        std::string getPathOptimizeMethod() { return _optimizeMethod; }
 
    protected:
 
        std::shared_ptr<bmpf::PathFinder> _pf;
        std::string _optimizeMethod;
 
    };
 
}