planners/obsolete/PL_Linear.cpp

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//## begin module%36FD3EDC01B8.cm preserve=no
//        %X% %Q% %Z% %W%
//## end module%36FD3EDC01B8.cm

//## begin module%36FD3EDC01B8.cp preserve=no
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//## Module: PL_Linear%36FD3EDC01B8; Pseudo Package body
//## Source file: E:\mpk\code\Planners\PL_Linear.cpp

//## begin module%36FD3EDC01B8.additionalIncludes preserve=no
//## end module%36FD3EDC01B8.additionalIncludes

//## begin module%36FD3EDC01B8.includes preserve=yes
//#include <stdafx.h>
//#include <gl/glaux.h>
//## end module%36FD3EDC01B8.includes

// PL_Linear
#include "PL_Linear.h"
// CD_Bool
#include "CollisionDetectors\CD_Bool.h"
//## begin module%36FD3EDC01B8.additionalDeclarations preserve=yes
//#include <gl\glos.h>
#include <gl\gl.h>

//## end module%36FD3EDC01B8.additionalDeclarations


// Class PL_Linear 

PL_Linear::~PL_Linear()
{
  //## begin PL_Linear::~PL_Linear%.body preserve=yes
  //## end PL_Linear::~PL_Linear%.body
}



//## Other Operations (implementation)
bool PL_Linear::Plan ()
{
  //## begin PL_Linear::Plan%922595700.body preserve=yes

        //open an OpenGL window for intermediate display
        path.AppendPoint( GetStartConfig() ) ;


        //ACTUAL PLANNER WORK
        const long int steps = 100 ;
        path.Clear() ;

        //test all points from start to goal 
        Configuration current = GetStartConfig();
        Configuration offset = GetGoalConfig() - GetStartConfig(); //IMPROVE: joint limits mean that it won't be as simple as this
        for( long int i = 0; i <= steps; i++ )
        {
#ifdef _DEBUG
                int c0 = current[ 0 ] ;
                int c1 = current[ 1 ] ;
#endif
                if( collisionDetector->IsInterfering( current ) )       //IMPROVE: this planner is not checking with the collision detector
                {
                        return false ;
                }

                path.AppendPoint( current ) ;
                current += ( offset * (1.0 / steps ) ) ;
        }
        return true ;
  //## end PL_Linear::Plan%922595700.body
}

void PL_Linear::PlanMultiThread (void* data)
{
  //## begin PL_Linear::PlanMultiThread%942274692.body preserve=yes
  //## end PL_Linear::PlanMultiThread%942274692.body
}

// Additional Declarations
  //## begin PL_Linear%36FD3EDC01B8.declarations preserve=yes
  //## end PL_Linear%36FD3EDC01B8.declarations

//## begin module%36FD3EDC01B8.epilog preserve=yes
//## end module%36FD3EDC01B8.epilog

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