PRM.hpp

#ifndef PRM_HPP
#define PRM_HPP

#include "planner/planner.hpp"
#include <iostream>

class PRM : public Planner
{
public:
        PRM(Robot * robot, Graph * graph) : Planner(robot, graph), m_nbConscutiveFailures(0) {
        std::cout << "Construct the PRM" << std::endl;
    }

        ~PRM() {};

        int getNumberOfExpansion() const { return m_nbExpansions; }

        virtual unsigned init();

        bool checkStopConditions();

        bool preConditions();

        virtual void expandOneStep();

        unsigned int run();

        bool trajFound();

    API::Trajectory * extractTrajectory();

private:
    double TPSbyExhaustiveSearch(std::vector<std::vector<double> > & distances,
                        std::vector<unsigned> & solution);

    void loadWaypoints();

protected:
        unsigned m_nbAddedNode;
        int m_nbConscutiveFailures;
        int m_nbExpansions;

    std::vector<confPtr_t> waypoints;

    std::vector<Node *> waypointNodes;
};

#endif