.. _program_listing_file_include_path_planning_planner.hpp:

Program Listing for File planner.hpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_path_planning_planner.hpp>` (``include/path_planning/planner.hpp``)

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

.. code-block:: cpp

   
   #ifndef PLANNER_HPP
   #define PLANNER_HPP
   
   #include <iostream>
   #include <tuple>
   #include <unordered_map>
   #include <vector>
   
   #include "utils/utils.hpp"
   
   class Planner {
    public:
     Planner(std::vector<std::vector<int>> grid)
         : original_grid_(std::move(grid)), n_(original_grid_.size()){};
   
     Planner(const Planner&) = default;
   
     Planner(Planner&&) = default;
   
     Planner& operator=(const Planner&) = default;
   
     Planner& operator=(Planner&&) = default;
   
     virtual ~Planner() = default;
   
     virtual std::tuple<bool, std::vector<Node>> Plan(const Node& start,
                                                      const Node& goal) = 0;
   
     virtual void SetDynamicObstacles(
         const bool create_random_obstacles = false,
         const std::unordered_map<int, std::vector<Node>>&
             time_discovered_obstacles = {}) {
       std::cout << "Please implement this function for the planner" << '\n';
       std::cout << "Value attempted to be set: " << '\n';
       std::cout << "Create random obstacles: " << create_random_obstacles << '\n';
       std::cout << "Number of time discovered obstacles: "
                 << time_discovered_obstacles.size() << '\n';
     };
   
    protected:
     std::vector<std::vector<int>> grid_ = {};
     const std::vector<std::vector<int>> original_grid_;
     const int n_;
   };
   
   #endif  // PLANNER_HPP