Program Listing for File reach_visualizer.h

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/*
 * Copyright 2019 Southwest Research Institute
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
#ifndef reach_STUDY_VISUALIZER_H
#define reach_STUDY_VISUALIZER_H

#include <reach/types.h>
#include <reach/interfaces/display.h>
#include <reach/interfaces/ik_solver.h>
#include <reach/utils.h>

#include <boost/shared_ptr.hpp>

namespace reach
{
class ReachVisualizer
{
public:
  using Ptr = boost::shared_ptr<ReachVisualizer>;

  ReachVisualizer(ReachResult result, IKSolver::ConstPtr solver, Evaluator::ConstPtr evaluator,
                  Display::ConstPtr display, const double neighbor_radius);

  void reSolveIK(const std::size_t record_idx);
  void showResult(const std::size_t record_idx) const;
  void showSeed(const std::size_t record_idx) const;
  void reachNeighbors(const std::size_t record_idx, const bool recursive = false) const;

protected:
  ReachResult result_;
  IKSolver::ConstPtr solver_;
  Evaluator::ConstPtr evaluator_;
  Display::ConstPtr display_;
  SearchTreePtr search_tree_ = nullptr;
  double neighbor_radius_;
};

}  // namespace reach

#endif  // reach_STUDY_VISUALIZER_H