planners/atace/LocalPlanner.h

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//
//Contents: Class TrajPlanner; base class of local planners used in APACE.
//          Class RRT_TrajPlanner; probabilistic local planner.
//          Class Jacobian_TrajPlanner; Jacobian-based local planner.
// 
#ifndef _HEADER_LOCAL_PLANNER
#define _HEADER_LOCAL_PLANNER

#pragma warning( disable : 4250 )

#include "geometry/Frame.h"
#include "Planners/PL_Boolean_Output.h"
#include "Planners/PL_OpenGL.h"
//#include "Planners/zhenwang/TrajPlanner.h"
#include "planners/ik_mpep/IK_Jacobian.h"
#include "Planners/ik_mpep/PL_MPEP.h"
//class PL_MPEP;

class TrajPlanner: public PL_Boolean_Output, public PL_OpenGL
{
public:
        TrajPlanner();
        virtual ~TrajPlanner();
        virtual bool DrawExplicit () const;
        virtual bool Plan (){return true;};

        //New for trajectory
        virtual void SetGoalPose(Frame &goalPose){m_goalPose = goalPose;};
        virtual void SetUsingOrientation(bool use){m_bUseOrientation = use;};
        virtual void SetUseGoalConfig( bool use){m_bUseGoalConfig = use;}
        virtual void SetTrajectory(std::vector<Frame> &poses){};
protected:
        //std::vector<Frame> m_poses;
        Frame m_goalPose;
        bool m_bUseOrientation;
        bool m_bUseGoalConfig;
};

class RRT_TrajPlanner: public TrajPlanner
{
public:
        RRT_TrajPlanner();
        virtual ~RRT_TrajPlanner();

        //Inherited form ancestor
        virtual void SetStartConfig( const Configuration& config );
        virtual void SetGoalConfig( const Configuration& config);
        virtual void SetCollisionDetector (CD_BasicStyle* collisionDetector);
        virtual void SetTrajectory(std::vector<Frame> &poses);
        virtual bool Plan ();

private:
        PL_MPEP *planner;
        int m_nNumPose;
};

class Jacobian_TrajPlanner: public TrajPlanner
{
public:
        Jacobian_TrajPlanner();
        ~Jacobian_TrajPlanner();

        //Inherited form ancestor
        virtual void SetStartConfig( const Configuration& config );
        virtual void SetCollisionDetector (CD_BasicStyle* collisionDetector);
        virtual void SetTrajectory(std::vector<Frame> &poses);
        virtual bool Plan ();

private:
        IK_Jacobian *planner;
        CD_BasicStyle *pCollisionDetector;
};

#endif

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