planners/aca/PL_ACA_Connect.h

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#ifndef PL_ACA_CONNECT_h
#define PL_ACA_CONNECT_h 1
#pragma warning( disable : 4250 )
#include "Planners\PL_Boolean_Output.h"
#include "Planners\PL_OpenGL.h"
#include "JMA_aca_structs.h"

class PL_ACA_CONNECT : public PL_Boolean_Output, //## Inherits: <unnamed>%376A93290334
                                                                        virtual public PL_OpenGL  //## Inherits: <unnamed>%3980C6E702E4
{
  public:
      virtual ~PL_ACA_CONNECT();
      virtual bool Plan ();
          virtual void SetStart_and_GoalConfig(const Configuration& configuration1, const Configuration& configuration2);
      virtual bool DrawExplicit () const;
  protected:
      double get_distance(const Configuration& conf1, const Configuration& conf2) const;
      void  MyRandomPath (int id_landmark, const int id_embryo, const int n_dof, const JMA_Configuration init_conf, JMA_Configuration* embryo) const;
      static int GetNAncestors (const JMA_Roadmap_Tree* tree, const int landmark_id);
      bool Search (JMA_Roadmap_Tree* temp_tree1, JMA_Roadmap_Tree* temp_tree2);
      void InitRoadmapTree (JMA_Roadmap_Tree* ptr_tree1, const int n_dof, const int n_embryos, const JMA_Configuration init_conf, JMA_Roadmap_Tree* ptr_tree2, const JMA_Configuration goal_conf) const;
      void Explore (JMA_Roadmap_Tree* tree) const;
      void GenerateNewEmbryo (JMA_Roadmap_Tree* tree, const int id_landmark, const int id_embryo) const;
      void GetIdsPath (JMA_Roadmap_Tree* ptr_tree1, JMA_Roadmap_Tree* ptr_tree2);
      void UpdateRoadmapTree (JMA_Roadmap_Tree* tree) const;
      void ComputeEmbryoDistance (JMA_Roadmap_Tree* tree, JMA_Configuration* embryo) const;
      void get_nearest_node(Configuration* the_node, JMA_Roadmap_Tree* temp_tree2, Configuration* the_nearest_node) ;
          bool get_new_node(Configuration* the_current_node, Configuration* the_nearest_node, Configuration* the_new_node) const;
          void advance(JMA_Roadmap_Tree* temp_tree1, JMA_Roadmap_Tree* temp_tree2);
          void optimization();
  private:
      int ids_list[ 2000 ], new_ids_list[2000];
      JMA_Roadmap_Tree tree1, tree2,temp_tree;
          // tree1 is the tree from the startConfig, tree2 is from the goalConfig

      JMA_Configuration  init_conf, goal_conf; 
      Configuration current_node,nearest_node, new_node;
          int numberOfEmbryos;
      int numberOfLandmarks, nearest_node_id;
          int mark, end_of_array, pointer;//here, pointer is used to tell which tree is current_tree.

  private: //## implementation

};

#endif

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