00001 #ifndef PL_Juan_h
00002 #define PL_Juan_h 1
00003
00004 #pragma warning( disable : 4250 )
00005 #include "Planners\PL_Boolean_Output.h"
00006 #include "Planners\PL_OpenGL.h"
00007 #include "JMA_aca_structs.h"
00008
00009 class PL_Juan :
00010 public PL_Boolean_Output,
00011 virtual public PL_OpenGL
00012 {
00013 public:
00014 PL_Juan();
00015 virtual ~PL_Juan();
00016 virtual bool Plan ();
00017 virtual bool Save (const char *filename) const;
00018 virtual void SetStartConfig (const Configuration& configuration);
00019 virtual bool Load (const char *filename);
00020 virtual bool DrawExplicit () const;
00021
00022 protected:
00023 void Initialize();
00024 double MyDistanceFunc (const Configuration& conf1, const Configuration& conf2) const;
00025 int MyRandomPath (int id_landmark, const int id_embryo, const int n_dof, const JMA_Configuration init_conf, JMA_Configuration* embryo) const;
00026 int SimplifyIdsTrajectory (const JMA_Roadmap_Tree* tree, const int list[], int n_nodes, int new_list[], int* new_n_nodes) const;
00027 static int GetNAncestors (const JMA_Roadmap_Tree* tree, const int landmark_id);
00028 int Search (JMA_Roadmap_Tree* tree) const;
00029 int MyLocalPlanner (const Configuration& start_conf, Configuration& local_minima) const;
00030 int MyGoalFunc (const Configuration& config) const;
00031 int MyPtpCollision (const Configuration& start_conf, const Configuration& local_minima) const;
00032 void InitRoadmapTree (JMA_Roadmap_Tree* tree, const int n_dof, const int n_embryos, const JMA_Configuration init_conf) const;
00033 void Explore (JMA_Roadmap_Tree* tree) const;
00034 void GenerateNewEmbryo( JMA_Roadmap_Tree* tree, const int id_landmark, const int id_embryo) const;
00035 static void GetIdsPath( const JMA_Roadmap_Tree* tree, const int landmark_id, int list_ids[], int* n_landmarks);
00036 void UpdateRoadmapTree( JMA_Roadmap_Tree* tree ) const;
00037 void ComputeEmbryoDistance (JMA_Roadmap_Tree* tree, JMA_Configuration* embryo) const;
00038 void CopyTrajectoryToPath ();
00039 private:
00040 int ids_list[ 500 ];
00041 JMA_Roadmap_Tree* tree;
00042 JMA_Configuration init_conf;
00043 int numberOfEmbryos;
00044 int numberOfLandmarks;
00045 bool m_Initialized : 1;
00046 };
00047 #endif
