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planner.h

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//----------------------------------------------------------------------
//               The Motion Strategy Library (MSL)
//----------------------------------------------------------------------
//
// Copyright (c) University of Illinois and Steven M. LaValle.     
// All Rights Reserved.
// 
// Permission to use, copy, and distribute this software and its 
// documentation is hereby granted free of charge, provided that 
// (1) it is not a component of a commercial product, and 
// (2) this notice appears in all copies of the software and
//     related documentation. 
// 
// The University of Illinois and the author make no representations
// about the suitability or fitness of this software for any purpose.  
// It is provided "as is" without express or implied warranty.
//----------------------------------------------------------------------

#ifndef MSL_PLANNER_H
#define MSL_PLANNER_H

#include <list>
#include <vector>
#include <fstream>
using namespace std;



#include "solver.h"
#include "random.h"
#include "graph.h"
#include "tree.h"
#include "vector.h"
#include "util.h"

class Planner: public Solver {
 protected:
  MSLRandomSource R;

  MSLVector RandomState();

  MSLVector NormalState(MSLVector mean, double sd);

 public:
  double CumulativePlanningTime;

  double CumulativeConstructTime;

  list<MSLVector> Path;

  list<double> TimeList;

  list<MSLVector> Policy1;

  list<double> TimeList1;

  list<MSLVector> Policy2;  

  list<double> TimeList2;

  MSLVector GapState1;

  MSLVector GapState2;

  bool Holonomic;

  MSLVector GapError; 

  MSLTree *T;  

  MSLTree *T2;
  
  MSLGraph *Roadmap;  

  list<MSLVector> StateList;

  list<MSLVector> InputList;

  int NumNodes;
  
  double PlannerDeltaT;

  Planner(Problem *problem);

  ~Planner();

  void Reset();

  virtual void Construct() = 0;

  virtual bool Plan() = 0;

  virtual void WriteGraphs(ofstream &fout) = 0;

  virtual void ReadGraphs(ifstream &fin) = 0;

  bool GapSatisfied(const MSLVector &x1, const MSLVector &x2);
};


class IncrementalPlanner: public Planner {
 public:
  IncrementalPlanner(Problem *problem);

  ~IncrementalPlanner() {};

  virtual void Construct();

  void RecordSolution(const list<MSLNode*> &glist,
                      const list<MSLNode*> &g2list);

  void RecordSolution(const list<MSLNode*> &glist);

  virtual void WriteGraphs(ofstream &fout);

  virtual void ReadGraphs(ifstream &fin);
};


class RoadmapPlanner: public Planner {
 public:
  RoadmapPlanner(Problem *problem);

  ~RoadmapPlanner() {};

  virtual void WriteGraphs(ofstream &fout);

  virtual void ReadGraphs(ifstream &fin);
};


#endif

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