Program Listing for File planner.hpp

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#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