.. _program_listing_file_include_reach_reach_visualizer.h:

Program Listing for File reach_visualizer.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_reach_reach_visualizer.h>` (``include/reach/reach_visualizer.h``)

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

.. code-block:: cpp

   /*
    * 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