planners/aca/jma_aca.h

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/*============================================================================= *
 * File           : jma_aca.h
 * Module         : ACA kernel
 * Author         : Juan Manuel AHUACTZIN
 * Creation       : Wed Jun  9 11:37:35 PDT 1999
 *
 *============================================================================= *
                (c) Copyright 1999, J.M. Ahuactzin all rights reserved
 *============================================================================= *
 *------------------------- Description ---------------------------------------  
 *   
 *------------------------- Modifications ------------------------------------- *
 * 
 * 
 */
#ifndef _JMA_ACA_H_
#define _JMA_ACA_H_

#include "jma_aca_structs.h"
//-----------------------------------------------------------------------------
int search
(
        JMA_Roadmap_Tree* tree, 
        int local_planner( double[], double[] ) , 
        int goal_func( double[] ) 
);
//-----------------------------------------------------------------------------
void explore
( 
        JMA_Roadmap_Tree* tree,
        const double distance_func( const double[], const double[] ),
        const int random_path_proc( const int, const int, const int, const JMA_Configuration, const JMA_Configuration* )
);
//-----------------------------------------------------------------------------
void init_roadmap_tree
(
        JMA_Roadmap_Tree* tree,
        const int n_dof,
        const int n_embryos,
        const JMA_Configuration init_conf,
        const double distance_func( const double[], const double[] ),
        const int random_path_proc( const int, const int, const int, const JMA_Configuration, const JMA_Configuration* )
);
//-----------------------------------------------------------------------------
void update_roadmap_tree(
        JMA_Roadmap_Tree* tree,
        const double distance_func( const double[], const double[] ) 
);
//-----------------------------------------------------------------------------
void generate_new_embryo
(
        JMA_Roadmap_Tree* tree,
        const int id_landmark,
        const int id_embryo,
        const double distance_func( const double[], const double[] ),
        const int random_path_proc( const int, const int, const int, const JMA_Configuration, const JMA_Configuration* )
);
//-----------------------------------------------------------------------------
void compute_embryo_distance
(
        JMA_Roadmap_Tree* tree,
        JMA_Configuration* embryo,
        double distance_func( double[], double[] )
);
 //-----------------------------------------------------------------------------
void get_ids_path(
        JMA_Roadmap_Tree *tree,
        int landmark_id,
        int list_ids[],
        int *n_landmarks
);
//-----------------------------------------------------------------------------
int get_n_ancestors(
        JMA_Roadmap_Tree *tree,
        int landmark_id
);
//-----------------------------------------------------------------------------
int simplify_ids_trajectory(
        JMA_Roadmap_Tree *tree,
        int list[],
        int n_nodes,
        int ptp_collision( double[], double[] ),
        int new_list[],
        int *new_n_nodes
);
//-----------------------------------------------------------------------------
void print_roadmap_tree(JMA_Roadmap_Tree*);
//-----------------------------------------------------------------------------
void print_node(JMA_Node,int);
//-----------------------------------------------------------------------------
#endif

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