planner.hpp

#ifndef PLANNER_HPP
#define PLANNER_HPP

#include "API/ConfigSpace/configuration.hpp"

#ifndef GRAPH_HPP
class Graph;
#endif

#ifndef NODE_HPP
class Node;
#endif

namespace API {
class Trajectory;
}

class Planner 
{
public:
        Planner();
        
  Planner(Robot* rob, Graph* graph);
  
  virtual ~Planner();
  
  virtual bool trajFound();
  
  Robot* getActivRobot();
  
  void setRobot(Robot* R);
  
  Graph* getActivGraph();
        
  void setGraph(Graph* G);
  
  bool setInit(confPtr_t Cs);
        
  bool setGoal(confPtr_t Cg);
  
  Node* getInit();
        
  Node* getGoal();
  
  confPtr_t getInitConf() { return _q_start; }
  
  confPtr_t getGoalConf() { return _q_goal; }
  
  bool getInitialized();
  
  void setInitialized(bool b);
  
  virtual unsigned init();
        
  virtual unsigned int run() = 0;
  
  int getRunId() { return m_runId; }
  
  void setRunId(int id) { m_runId = id; }
  
  double getTime();
  
  void chronoStart();

  void chronoStop();

  void chronoUpdate();

  virtual API::Trajectory * extractTrajectory();

protected:
  
  int (*_stop_func)();
  void (*_draw_func)();
  
  // Store configurations for cases where the 
  // goal configuration is not inserted in the graph
  confPtr_t _q_start;
  confPtr_t _q_goal;
  
  Node* _Start; 
  Node* _Goal; 
  Robot* _Robot;
  Graph* _Graph;
  bool _Init;
  bool m_fail;
  
  int m_runId;
  
  double m_time;
};

extern Planner* global_Move3DPlanner;

#endif