text: /*
   * Copyright (c) 2017, <copyright holder> <email>
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *     * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *     * Redistributions in binary form must reproduce the above copyright
   *     notice, this list of conditions and the following disclaimer in the
   *     documentation and/or other materials provided with the distribution.
   *     * Neither the name of the <organization> nor the
   *     names of its contributors may be used to endorse or promote products
   *     derived from this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY <copyright holder> <email> ''AS IS'' AND ANY
   * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
   * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   * DISCLAIMED. IN NO EVENT SHALL <copyright holder> <email> BE LIABLE FOR ANY
   * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
   */
  
  #ifndef COLLISION_RESOLUTION_H
  #define COLLISION_RESOLUTION_H
  
  #include <tuw_global_router/srr_utils.h>
  #include <tuw_global_router/route_coordinator.h>
  #include <tuw_global_router/potential_calculator.h>
  //TODO
  //remember Vertex
  //remember Collisions
  
  namespace multi_robot_router
  {
  class CollisionResolution
  {
    public:
      /**
              * @brief resets the session (setting the new route querry and potential calculator)
              * @param _route_querry the route coordinator to coordinate paths
              * @param _pCalc the potential calculator for assigning potential to expanded Vertices
              * @param _robot_radius the radius of the current robot
              */
      virtual void resetSession(const RouteCoordinatorWrapper *_route_querry, const PotentialCalculator *_pCalc, const uint32_t _robot_radius) = 0;
      /**
               * @brief resolves a found collision between two robots. 
               * @param _current the last expanded vertex 
               * @param _next the vertex to expand to 
               * @param _collision the index of the colliding robot
               * @returns a vector of references to Vertices where the Potential Expander can continue expanding
               */
      virtual std::vector<std::reference_wrapper<Vertex>> resolve(Vertex &_current, Vertex &_next, int32_t _collision) = 0;
      /**
               * @brief returns amount of robot collisions found in each resolve try after resetSession
               * @returns a std::vector where the index is the robot index and the value the number of collisions with this robot 
               */
      virtual const std::vector<uint32_t> &getRobotCollisions() const = 0;
      /**
               * @brief increases the collision count of one robot
               * @param _coll the robot elected for increasing its collisions
               */
      virtual void saveCollision(const uint32_t _coll) = 0;
  };
  } // namespace multi_robot_router
  #endif // HEURISTIC_H
  