planners/prm/PL_PrmIjg.h

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#ifndef _PL_PrmIjg_
#define _PL_PrmIjg_

#include "Planners/PL_Boolean_Output.h"
#include "Planners/PL_OpenGL.h"
#include "math/graph.h"
#include <vector>

#pragma warning( disable : 4250 )

class CD_Bool;


class PL_PrmIjg 
    :         public PL_Boolean_Output,
      virtual public PL_OpenGL
{
  public:
      PL_PrmIjg();
      virtual       ~PL_PrmIjg();
      virtual bool  DrawExplicit () const;
      virtual void  DrawUniversePortion() const;
      bool          Plan ();
      void          PlanMultiThread (void* data);

  protected:
      bool          AddNodeToGraph( const int graphNum, const Configuration& config );
      int           CreateNewGraph( const Configuration& config );
      void          DrawOverlay( const Configuration& config ) const;
      Configuration GenerateRandomConfig() const;
      void          MergeGraphs( const int base, const int merge, const Configuration& config );
      void          PrintGraph( const int graphNum ) const;
      static void   SetColor( const int i );

      typedef Graph::Graph< Configuration, bool > PrmGraph;
      std::vector< PrmGraph >   m_Graphs;
      std::vector< bool >       m_GraphInFreeSpace;
      bool                      m_PlanComplete;
      int                       m_NumberOfTimesContinued;

  private:
};

#endif //_PL_PrmIjg_
 

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