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prm.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_PRM_H
#define MSL_PRM_H

#include <queue>

#include "planner.h"
#include "util.h"
#include "disjointsets.h"



class PRM: public RoadmapPlanner {
 protected:
  virtual list<MSLVertex*> NeighboringVertices(const MSLVector &x);
  virtual bool Connect(const MSLVector &x1, const MSLVector &x2, MSLVector &u);
  virtual MSLVector ChooseState(int i, int maxnum, int dim);
  MSLVector QuasiRandomStateHammersley(int i, int maxnum, int dim);
  MSLVector QuasiRandomStateHalton(int i, int dim);
  MSLVector QuasiRandomStateSukharev(int i, int maxnum, int dim);
  double StepSize;  // Derived from DeltaT using the model
  int MaxNeighbors;
  int MaxEdgesPerVertex;
 public:

  double Radius;

  DisjointSets<MSLVertex*> ds;

  int SatisfiedCount;

  bool QuasiRandom;

  bool QuasiRandomSukharev;

  double SukharevDispersion;

  int SukharevPointsPerAxis;

  bool QuasiRandomHammersley;

  PRM(Problem *problem);

  virtual ~PRM() {};

  virtual void Construct();

  virtual bool Plan();
};


#endif

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