Visibility.hpp

#ifndef VIS_PRM_HPP
#define VIS_PRM_HPP

#include "planner/PRM/PRM.hpp"
class Vis_PRM : public PRM
{
public:
    Vis_PRM(Robot* R, Graph* G);

    ~Vis_PRM();
        
    std::vector<Node*> isOrphanLinking(Node* N, int & link);
        
    void createOneOrphanLinking(int type, unsigned int & ADDED, int & nb_fail);
        
    bool linkOrphanLinking(Node* N, int type, unsigned int & ADDED, int & nb_fail);
        
        
    int createOrphansLinking(unsigned int nb_node, int type);
        

    void expandOneStep();
        
private:
        unsigned int m_nbOfExpand;
};

#endif