planners/rrt/PL_RRT_Connect.h

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#ifndef PL_RRT_CONNECT_h
#define PL_RRT_CONNECT_h 1

#pragma warning( disable : 4250 )

// PL_Boolean_Output
#include "Planners/PL_Boolean_Output.h"
// PL_OpenGL
#include "Planners/PL_OpenGL.h"
#include "planners/aca/JMA_aca_structs.h"

class PL_RRT_CONNECT : public PL_Boolean_Output, //## Inherits: <unnamed>%376A93290334
                                                                        virtual public PL_OpenGL  //## Inherits: <unnamed>%3980C6E702E4
{

  public:
      ~PL_RRT_CONNECT();
      virtual bool Plan();
      virtual void SetStart_and_GoalConfig (const Configuration& configuration1,const Configuration& configuration2);
      bool DrawExplicit () const;
  protected:
      double MyDistanceFunc (const Configuration& conf1, const Configuration& conf2) const;
      int Extend_trapped(JMA_Roadmap_Tree* Ptr_tree, int* the_n_nodes, Configuration* the_random_config);
      int Simple_Extend_trapped(JMA_Roadmap_Tree* Ptr_tree, 
                                                                                  int* the_n_nodes, Configuration old_new_config);
          bool connect(JMA_Roadmap_Tree* My_tree, Configuration old_new_config);
      int Get_new_config(Configuration* the_random_config, Configuration* the_near_config, Configuration* the_new_config);
                                
          int Get_nearest_neighbour(JMA_Roadmap_Tree* Ptr_tree, Configuration* the_random_config);
      void InitRoadmapTree( JMA_Roadmap_Tree* tree1, JMA_Roadmap_Tree* tree2, const int n_dof1, const int n_dof2, const JMA_Configuration init_conf, const JMA_Configuration goal_conf ) const;
      static void GetIdsPath (JMA_Roadmap_Tree* tree1,JMA_Roadmap_Tree* tree2, const int landmark_id1, const int landmark_id2, int ids_list1[], int* n_landmarks1, int ids_list2[], int* n_landmarks2);  
      int Get_random_config(Configuration* the_random_config);
  private:
      int ids_list1[ 1000 ], ids_list2[1000];
      JMA_Roadmap_Tree tree1, tree2;
      JMA_Configuration  init_conf, goal_conf;
      int numberOfEmbryos,near_neighbour_id;
      int numberOfLandmarks;
      Configuration random_config, near_config, new_config, old_new_config;

  private: 

};//
#endif

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