.. _program_listing_file_fields2cover_route_planning_route_planner_base.h:

Program Listing for File route_planner_base.h
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file_fields2cover_route_planning_route_planner_base.h>` (``fields2cover/route_planning/route_planner_base.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   //=============================================================================
   //    Copyright (C) 2021-2024 Wageningen University - All Rights Reserved
   //                     Author: Gonzalo Mier
   //                        BSD-3 License
   //=============================================================================
   
   #pragma once
   #ifndef FIELDS2COVER_ROUTE_PLANNING_ROUTE_PLANNING_BASE_H_
   #define FIELDS2COVER_ROUTE_PLANNING_ROUTE_PLANNING_BASE_H_
   
   #include <vector>
   #include <map>
   #include <optional>
   #include <limits>
   #include <utility>
   #include "fields2cover/types.h"
   #include "fields2cover/objectives/rp_obj/rp_objective.h"
   #include "fields2cover/objectives/rp_obj/direct_dist_path_obj.h"
   #include "fields2cover/route_planning/single_cell_swaths_order_base.h"
   
   namespace f2c::rp {
   
   class RoutePlannerBase {
    public:
     virtual F2CRoute genRoute(
         const F2CCells& cells, const F2CSwathsByCells& swaths_by_cells,
         bool show_log = false, double d_tol = 1e-4, bool redirect_swaths = true);
   
     void setStartAndEndPoint(const F2CPoint& p);
   
     virtual F2CGraph2D createShortestGraph(
         const F2CCells& cells, const F2CSwathsByCells& swaths_by_cells,
         double d_tol) const;
   
     virtual F2CGraph2D createCoverageGraph(
         const F2CCells& cells, const F2CSwathsByCells& swaths_by_cells,
         F2CGraph2D& shortest_graph,
         double d_tol, bool redirect_swaths = true) const;
   
   
     virtual ~RoutePlannerBase() = default;
   
    protected:
     virtual std::vector<int64_t> computeBestRoute(
         const F2CGraph2D& cov_graph, bool show_log) const;
   
     virtual F2CRoute transformSolutionToRoute(
         const std::vector<int64_t>& route_ids,
         const F2CSwathsByCells& swaths_by_cells,
         const F2CGraph2D& coverage_graph,
         F2CGraph2D& shortest_graph) const;
   
    protected:
     std::optional<F2CPoint> r_start_end;
   };
   
   
   
   }  // namespace f2c::rp
   
   #endif  // FIELDS2COVER_ROUTE_PLANNING_ROUTE_PLANNING_BASE_H_