planners/rangesensor/PL_Range_Sensor.h

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#ifndef PL_Range_Sensor_h
#define PL_Range_Sensor_h 1

#include "Planners\PL_Boolean_Output.h"
#include "Planners\aca\PL_Juan.h"
#include "CollisionDetectors\cd_rangesensor\CD_Range_Sensor.h"
#include "CollisionDetectors\CD_Bool.h"

class CD_Bool;


class PL_Range_Sensor : public PL_Boolean_Output,
                                                virtual public PL_OpenGL
{

  public:
#ifdef WIN32
          CWnd* cWindow_ptr;

          HGLRC hglrc_var;
#endif

          bool isMultiThreaded;

      bool DrawExplicit () const;

      virtual ~PL_Range_Sensor();

      bool Plan ();

          virtual void SetCollisionDetector (CD_BasicStyle* collisionDetector);

  protected:

          PL_Juan pl_juan;

          virtual void SetStartConfig (const Configuration& configuration);

      virtual void SetGoalConfig (const Configuration& configuration);

      Configuration GenerateRandomConfig () const;

  private:

};

#endif

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