planners/PlannerBase.cpp

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#include "synchronization/guid.h"
#include <assert.h>

#include "CollisionDetectors\CollisionDetectorBase.h"
#include "Paths\PathBase.h"
#include "Planners\PlannerBase.h"

PlannerBase::PlannerBase ()
:       m_UseSemaphores( true ),
        timeLimitInSeconds(100), 
        planSuccessful(false),
        paramBuffer(NULL),
        sizeOfParameterBuffer(0),
        guid( GuidGenerator::GenerateNewGuid() )
{
}


PlannerBase::~PlannerBase()
{
        if (paramBuffer)
                free(paramBuffer);
}

void* PlannerBase::GetParameters()
{
        if (paramBuffer)
                memset(paramBuffer, 0, sizeOfParameterBuffer);

        return paramBuffer;
}

bool PlannerBase::SetParameters(const void *param)
{
        bool neednewbuffer = false;
        int length;
        if (paramBuffer == NULL)
        {
                neednewbuffer = true;
        }
        else
        {
                length = strlen((char*)param);
                if (length >= sizeOfParameterBuffer)
                {
                        neednewbuffer = true;
                }
        }

        if (neednewbuffer)
        {
                void *newBuffer = malloc(length + 1);
                if (newBuffer)
                {
                        if (paramBuffer)
                                delete paramBuffer;
                        sizeOfParameterBuffer = length + 1;
                        paramBuffer = (char *)newBuffer;
                }
                else
                        return false;
        }

        strcpy(paramBuffer, (char *)param);
        return true;
}

bool PlannerBase::ValidateParameters()
{
        return true;
}

void PlannerBase::SetCollisionDetector (CollisionDetectorBase* collisionDetector)
{
        assert( false );
}

bool PlannerBase::HasTimeLimitExpired () const
{
        double elapsedTime = timer.ElapsedTime();
        if( elapsedTime > this->timeLimitInSeconds )
        {
                return true;
        }
        else
        {
                return false;
        }
}

void PlannerBase::StartTimer () const
{
        timer.Start();
}

void PlannerBase::SetTimeLimitInSeconds (double newTimeLimit)
{
        this->timeLimitInSeconds = newTimeLimit;
        //IMPROVE: what if the timer is already past this?
}

bool PlannerBase::Save (const char *filename) const
{
        return false;
}

bool PlannerBase::Load (const char *filename)
{
        return false;
}

bool PlannerBase::GetPlanSuccess () const
{
        return this->planSuccessful;
}

void PlannerBase::SetPlanSuccess (bool success)
{
        this->planSuccessful = success;
}

//=============================================================================
// GetTimeElapsedInSeconds
//
// Description: allows you to deterimine how much time elapsed during planning
//=============================================================================
double PlannerBase::GetTimeElapsedInSeconds() const
{
        double elapsedTime = timer.ElapsedTime();
        return elapsedTime;
}

double PlannerBase::GetTimeLimitInSeconds () const
{
        return this->timeLimitInSeconds;
}

//=============================================================================
// CopySettings
//
// Description: copy the settings from a previous instance of this planner
//=============================================================================
void PlannerBase::CopySettings( PlannerBase* original )
{
        assert( false );
}

int PlannerBase::GetGuid() const
{
        return this->guid;
}

//=============================================================================
// PlannerBase::GetStartConfig
//
// Description: allow access to these members
//============================================================================= 
const Configuration& PlannerBase::GetStartConfig() const
{
    return startConfig;
}

//=============================================================================
// PlannerBase::GetGoalConfig
//
// Description: allow access to these members
//=============================================================================
const Configuration& PlannerBase::GetGoalConfig() const
{
    return goalConfig;
}

//=============================================================================
// PlannerBase::SetStartConfig
//
// Description: allow access to these members
//=============================================================================
void PlannerBase::SetStartConfig( const Configuration& configuration )
{
        startConfig = configuration ;
}

//=============================================================================
// PlannerBase::SetGoalConfig 
//
// Description: allow access to these members
//=============================================================================
void PlannerBase::SetGoalConfig (const Configuration& configuration)
{
        goalConfig = configuration ;
}

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