ThresholdPlanner.hpp

/*
 *  ThresholdPlanner.h
 *  BioMove3D
 *
 *  Created by Jim Mainprice on 05/07/10.
 *  Copyright 2010 LAAS/CNRS. All rights reserved.
 *
 */

#ifndef THRESHOLD_PLANNER_H_
#define THRESHOLD_PLANNER_H_

#include "API/Trajectory/trajectory.hpp"

#include "planner/Diffusion/TreePlanner.hpp"

class ThresholdPlanner : public TreePlanner
{
public:
        ThresholdPlanner(Robot* R, Graph* G);
        ~ThresholdPlanner();
        
        unsigned init();
        
        bool checkStopConditions();
        
        bool newTrajectoryExtracted(API::Trajectory* trajPt);
        
        unsigned expandOneStep(Node* fromComp, Node* toComp);
        
        unsigned int run();
        
};

#endif