/home/slemaign/softs-local/BioMove3D-git/include/p3d_type.h

#ifndef UNIT_P3D_TYPE 
#define UNIT_P3D_TYPE 

#define P3D_ENV        0
#define P3D_OBSTACLE   1
#define P3D_ROBOT      2
#define P3D_BODY       3
#define P3D_TRAJ       4
#define TRJ_TRAJ       5
#define P3D_BODIES     6

/*---------------------------------------------------------------------------*/
typedef enum {
  P3D_ROTATE = 7,
  P3D_TRANSLATE = 8,
  P3D_BASE = 9,
  P3D_PLAN = 10,
  P3D_FREEFLYER = 11,
  P3D_FIXED = 13,
  P3D_KNEE = 15
} p3d_type_joint;

#define NB_JNT_TYPE 7

#define P3D_PPIVOT     12

#define P3D_MAX_ENV    10
#define P3D_MAX_ROB    10

#define P3D_NULL_OBJ   -1

/* the entity shapes: 0=polyh, 1=sphere, 2=cube, 3=box, 4=cylinder, 5=cone */
#define POLYHEDRON_ENTITY 0
#define CONVEX_POLYHEDRON 1
#define CONCAVE_POLYHEDRON 2
#define SPHERE_ENTITY 3
#define CUBE_ENTITY 4
#define BOX_ENTITY 5
#define CYLINDER_ENTITY 6
#define CONE_ENTITY 7

/* Predefined colors */
#define Black 0
#define Blue 1
#define Yellow 2
#define Red 3
#define Green 4
#define White 5
#define Grey 6
#define Brown 7
#define Filaire 8
#define Skin 9
#define Blue2 10
#define DGrey 11
#define DSkin 12
#define DBrown 13
#define DGreen 14
#define Any 15
#define Violet 16
#define Orange 33

/* Tansparency colors */
#define tBlack 17
#define tBlue 18
#define tYellow 19
#define tRed 20
#define tGreen 21
#define tWhite 22
#define tGrey 23
#define tBrown 24
#define tFilaire 25
#define tSkin 26
#define tBlue2 27
#define tDGrey 28
#define tDSkin 29
#define tDBrown 30
#define tDGreen 31
#define tViolet 32
#define tOrange 34

/*  Les collisions checkers */

#define p3d_col_mode_none 0
#define p3d_col_mode_i_collide 1
#define p3d_col_mode_v_collide 2
#ifdef SOLID_ACT
#define p3d_col_mode_solid 3
#endif
#define p3d_col_mode_kcd 4
#define p3d_col_mode_gjk 5
#define p3d_col_mode_bio 6   /* modif Vicente */
#define p3d_col_mode_pqp 7   

/* D�ut modification Fabien */

/* Choice of the trajectory collision detector */

/*---------------------------------------------------------------------------*/
typedef enum { 
  TEST_TRAJ_CLASSIC,
  TEST_TRAJ_DICHOTOMIE,
  TEST_TRAJ_CLASSIC_ALL, 
  TEST_TRAJ_DICHOTOMIE_ALL,
  TEST_TRAJ_OTHER_ROBOTS_CLASSIC,
  TEST_TRAJ_OTHER_ROBOTS_DICHOTOMIE, 
  TEST_TRAJ_OTHER_ROBOTS_CLASSIC_ALL,
  TEST_TRAJ_OTHER_ROBOTS_DICHOTOMIE_ALL,
  TEST_TRAJ_CONTEXT_CLASSIC,
  TEST_TRAJ_CONTEXT_DICHOTOMIE
} p3d_traj_test_type;


/* Parameter of bounding box selection */

typedef enum { 
//   ACTIVATE_BB_CLASSIC,     /* Activate BB but not for autocollision     */
  ACTIVATE_BB_ALL,         /* Activate BB with the collision activation */
  DEACTIVATE_BB            /* Deactivate BB                             */
} p3d_BB_selection_type;

/* Parameter of bounding box computation */

typedef enum { 
  COMPUTE_BB_CLOSE,        /* Compute BB with close method              */
  COMPUTE_BB_LARGE,        /* Compute BB with large method              */
  COMPUTE_BB_COL           /* Compute BB with collision checker data    */
} p3d_BB_compute_type;


/*---------------------------------------------------------------------------*/
typedef enum {
  P3D_COL_ROBOT_ALL,
  P3D_COL_ROBOT_ENV,
  P3D_COL_ROBOT_ALL_WITHOUT_AUTOCOL,
  P3D_COL_ROBOT_ALL_WITHOUT_OTHER,
  P3D_COL_ROBOT_AUTOCOL,
  P3D_COL_ENV_ALL,
  P3D_COL_ENV_NONE
} p3d_type_col_env_context;


/*---------------------------------------------------------------------------*/
typedef enum {
  P3D_KCD_COL_TEST = 0,
  P3D_KCD_ROB_ALL = 10,
  P3D_KCD_ROB_ROB = 20,
  P3D_KCD_ROB_AUTO = 30,
  P3D_KCD_ROB_ENV = 40,
  P3D_KCD_EVERYTHING = 50,
  P3D_KCD_MO_ENV = 60,
} p3d_type_col_choice;

/* Fin modification Fabien */

/* Status pour la planification */

#define P3D_SUCCESS    0
#define P3D_FAILURE    1
#define P3D_WRONG_CALL 2
#define P3D_ILLEGAL_START 3
#define P3D_ILLEGAL_GOAL  4
#define P3D_CONFIG_EQUAL  5

#define NDISCR 10 
#define NTEST 50


#define ISOLATED 0
#define LINKING 1



/************************************************
  Enumeration of the methods which 
   can be used to choose a direction of expansion
   during a tree expansion 
**************************************************/
#define GLOBAL_CS_EXP 1
#define SUBREGION_CS_EXP 2

/************************************************
  Enumeration of the methods which 
  can be used to choose the node to select
  during a tree expansion 
**************************************************/
#define NEAREST_EXP_NODE_METH 1
#define K_NEAREST_EXP_NODE_METH 2
#define BEST_SCORE_EXP_METH 3
#define K_BEST_SCORE_EXP_METH 4
#define RANDOM_IN_SHELL_METH 5
#define RANDOM_NODE_METH 6
#define NAVIGATION_BEFORE_MANIPULATION 7

/************************************************
  Enumeration of the available distances which 
  can be used
**************************************************/
#define GENERAL_CSPACE_DIST 1
#define ACTIVE_CONFIG_DIST 2
#define LIGAND_PROTEIN_DIST 3
#define MOBILE_FRAME_DIST 4
#define ONLY_ROBOT_BASE 5

/************************************************
  Enumeration of the methods which 
  can be used to choose to expand a node during
  a tree expansion
**************************************************/
#define ONE_NODE_CONNECT_EXP_CHOICE 1
#define N_NODES_EXTEND_EXP_CHOICE 2
#define EXTEND_EXP_CHOICE 3

/************************************************
  Enumeration of the methods which 
  can be used to choose to connect a node to
  a given connected componant
**************************************************/
#define NEAREST_NODE_COMP 1
#define K_NEAREST_NODE_COMP 2

/************************************************
  Enumeration of the methods which 
  can be used to weight a given node
**************************************************/
#define RMSD_DISANCE_WEIGHT 1
#define ENERGY_WEIGHT 2

/************************************************
  Enumeration of the choices to compute the cost
 of an elementary path in function of the
 cost of the extremites configurations
**************************************************/
#define MECHANICAL_WORK 0
#define INTEGRAL 1
#define AVERAGE_CONFIG_COST 2
#define CONFIG_COST_AND_DIST 3
#define BOLTZMANN_COST 4
#define VISIBILITY 5

#define MAXIMAL_THRESHOLD 1 //Ettlin / Bleuer variant
#define URMSON_TRANSITION 2 //Urmson / Simmons variant
#define TRANSITION_RRT 3
#define TRANSITION_RRT_CYCLE 4
#define MONTE_CARLO_SEARCH 5
#define DOWN_SEARCH 6
#define ADAPTIVE_THRESHOLD 7 //the threshold value depends of successes and failures

#define P3D_UNIFORM_SAMPLING 1
#define P3D_GAUSSIAN_SAMPLING 2
//#define P3D_DYNAMIC_DOMAIN_SAMPLING 3
#define P3D_BRIDGE_SAMPLING 4
#define P3D_OBPRM_SAMPLING 5

#define P3D_HALTON_SAMPLING 1
#define P3D_RANDOM_SAMPLING 2

#define P3D_NO_EXPAND 0
#define P3D_EXPAND_BOX 1
#define P3D_EXPAND_DISCR_CONT 2
#define P3D_EXPAND_RAND_WALK 3


#define P3D_BASIC 1
#define P3D_ISOLATE_LINKING 2
#define P3D_ALL_PRM 3
#define P3D_PDR 4
#define P3D_DIFFUSION 5
#define BIO_COLDEG_RRT 6


#define P3D_NB_CONNECT 1
#define P3D_DIST_NODE 2

#define P3D_REAL 0
#define P3D_GRAPHIC 1
#define P3D_GHOST 2
#define P3D_LINES 3      // PROV. MODIF JUAN

#define P3D_REAL_OBJECT          100
#define P3D_GRAPHIC_OBJECT       101
#define P3D_GHOST_OBJECT         102
#define P3D_DEACTIVATED_OBSTACLE 103
#define P3D_ACTIVATED_OBSTACLE   104
#define P3D_ADDABLE_OBSTACLE     105
#define P3D_ADDED_OBSTACLE       106

//Inverse Kinematic
#define IK_NORMAL 0
#define IK_UNIQUE 1
#define IK_MULTISOL 2

//PLANNING TYPE
#define P3D_NONE 0
#define P3D_GLOBAL 1
#define P3D_SPECIFIC 2

//Astar Graph Type
#define DEFAULTGRAPH 0
#ifdef MULTIGRAPH
#define MGGRAPH 1
#endif

//start path deform
#define  ALL_RETRACT_SEARCH 0
#define  FORWARD_RETRACT_SEARCH 1
#define  LINEAR_RETRACT_SEARCH 2
//end path deform
#endif