/**
* @brief Function that acts as the classe's frontend. Includes
* the full implementation
* @param map [ogmpp_map_loader::Map&] The map
* @param begin [ogmpp_graph::Cell] The start cell
* @param end [ogmpp_graph::Cell] The ending cell
*/
std::vector<ogmpp_graph::Cell> OgmppAbstractPlanner::createPath(
ogmpp_map_loader::Map& map,
ogmpp_graph::Cell begin,
ogmpp_graph::Cell end,
std::map<std::string, double> parameters)
{
_g.clean();
_g = _createGraph(map, begin, end, parameters);
_visualize(_g, begin, end);
return _fixPath(_g, begin, end);
}
void
Config::_fixElement (xmlpp::DOM::Element* element)
{
for (size_t i = 0; i < element->childNodes().length(); i++) {
xmlpp::DOM::Node* node = element->childNodes().item(i);
if (node->nodeType() == xmlpp::DOM::Node::ELEMENT_NODE) {
xmlpp::DOM::Element* ele = (xmlpp::DOM::Element*) node;
if (ele->hasAttribute("path")) {
ele->setAttribute("path", _fixPath(ele->getAttribute("path")));
}
_fixElement(ele);
}
}
}
