TreePlanner.hpp

/*
 * TreePlanner.hpp
 *
 *  Created on: Aug 31, 2009
 *      Author: jmainpri
 */

#ifndef TREEPLANNER_HPP_
#define TREEPLANNER_HPP_

#include "planner/planner.hpp"
#include "planner/Diffusion/Variants/BaseExpansion.hpp"


class TreeExpansion: public BaseExpansion
{
public:
        TreeExpansion(Graph * graph) : BaseExpansion(graph) {};

        virtual ~TreeExpansion() {};

        void expansionSucceeded(Node * node);

        void expansionFailed(Node * node);
};


class TreePlanner : public Planner {

public:
        TreePlanner(Robot* R, Graph* G);

        ~TreePlanner();

        virtual unsigned init();

        virtual bool checkStopConditions();

        virtual bool preConditions();

        virtual bool connectNodeToComp(Node* N, Node* CompNode);

        virtual bool connectionToTheOtherCompco(Node* toNode);

    virtual unsigned int expandOneStep(Node * fromComp) {return 0;}

        virtual unsigned int run();

        bool goalBias() const;

        double getTime();

    int getRunId() {
        return m_runId;
    }

    void setRunId(int id) {
        m_runId = id;
    }

        unsigned int getNumberOfConsecutiveFail() {
                return m_nbConscutiveFailures;
        }

        unsigned int getNumberOfExpansion()     {
                return m_nbExpansion;
        }

        unsigned int getNumberOfFailedExpansion() {
                return m_nbFailedExpansion;
        }

        unsigned int getNumberOfInitialNodes()  {
                return m_nbInitNodes;
        }

    Node* getLastNode() {
        return m_last_node;
    }

    double getDistanceGap(){ return m_DistanceGap;}

protected:
        int m_runId;

        unsigned int m_nbConscutiveFailures;
        unsigned int m_nbExpansion;
        unsigned int m_nbFailedExpansion;
        unsigned int m_nbInitNodes;
    double m_DistanceGap;

    Node* m_last_node;
};

#endif /* TREEPLANNER_HPP_ */