plannerFunctions.hpp

#ifndef PLANNERFUNCTIONS
#define PLANNERFUNCTIONS

#ifdef LIST_OF_PLANNERS
#define Global
#else
#define Global extern
#endif

#include "P3d-pkg.h"

/*object global permettant d'acceder aux planner dans tous les fichiers de Move3d*/

#include "planner/planner.hpp"
#include "API/Trajectory/trajectory.hpp"

#define PLAN_RIGHT_ARM  0
#define PLAN_LEFT_ARM  1
#define PLAN_BASE  2
#define PLAN_FULL  3

#define PLAN_STATUS_FOUND  0
#define PLAN_STATUS_START_EQUALS_GOAL  1
#define PLAN_STATUS_START_INVALID  2
#define PLAN_STATUS_GOAL_INVALID  3
#define PLAN_STATUS_NOT_FOUND  4


Global std::vector<Planner*> plannerlist;

struct RRTStatistics
{
  int runId;
  bool succeeded;
  double time;
  double cost;
  int nbNodes;
  int nbExpansions;
};

API::Trajectory p3d_get_last_trajectory();

void p3d_get_rrt_statistics( RRTStatistics& stat );

void p3d_get_traj_statistics( TrajectoryStatistics& stat );

void p3d_planner_functions_set_run_id( unsigned int idRun );

unsigned int p3d_planner_functions_get_run_id();


p3d_traj* p3d_extract_traj(bool is_traj_found, int nb_added_nodes, Graph* graph, confPtr_t q_source, confPtr_t q_target);

p3d_traj* p3d_planner_function( p3d_rob* robotPt, configPt qs, configPt qg);

void p3d_smoothing_function( p3d_rob* robotPt, p3d_traj* traj, int nbSteps, double maxTime );

void p3d_smoothing_function_dummy( p3d_rob* robotPt, p3d_traj* traj, int nbSteps, double maxTime );

void p3d_set_goal_solution_function( configPt (*fct)() );

bool p3d_generate_goal_configuration( Configuration& q );

int p3d_run_prm(p3d_rob* robotPt);


int p3d_run_directed_prm(p3d_rob* robotPt);

int p3d_run_acr(p3d_rob* robotPt);

int p3d_run_vis_prm(p3d_rob* robotPt);

int p3d_run_perturb_prm(p3d_rob* robotPt);

int p3d_run_rrt(p3d_rob* robotPt);



int p3d_plan(p3d_rob* robotPt, configPt from, configPt to, int robotPart, bool cartesian);//, Graph* fromGraph); 
int p3d_plan(p3d_rob* robotPt, configPt from, configPt to, const std::vector<int> &joints, bool cartesian);
bool p3d_run_est(p3d_rob* robotPt);

void p3d_learn_cxx(int NMAX, int (*fct_stop)(void), void (*fct_draw)(void));

int p3d_specific_learn_cxx(double *qs, double *qg, int *iksols, int *iksolg, int (*fct_stop)(void), void (*fct_draw)(void));

#endif