ManhattanLike-RRT.hpp

/*
 * ManhattanLike-RRT.hpp
 *
 *  Created on: Aug 31, 2009
 *      Author: jmainpri
 */

#ifndef _MANHATTAN_LIKE_RRT_HPP_
#define _MANHATTAN_LIKE_RRT_HPP_

#include "planner/Diffusion/RRT.hpp"


class ManhattanLikeRRT: public RRT
{
public:
        ManhattanLikeRRT(Robot * robot, Graph * graph) : RRT(robot, graph) {
                std::cout << "Construct the ML-RRT" << std::endl;
        }

        virtual ~ManhattanLikeRRT() {};

        unsigned expandOneStep(ConnectedComponent * fromComp);

private:
        unsigned passiveExpandProcess(Node * expansionNode, Node * directionNode);

        bool getCollidingPassiveJntList(Robot * R, Configuration & qinv, std::vector<p3d_jnt *> & joints);

        bool selectNewJntInList(std::vector<p3d_jnt *> & joints, std::vector<p3d_jnt *> & oldJoints,
                        std::vector<p3d_jnt *> & newJoints);

        void shoot_jnt_list_and_copy_into_conf(Configuration & qrand, std::vector<p3d_jnt *> & joints);
};

#endif