planners/ik_mpep/SMGraph.h

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#ifndef _SMGraph_Header_
#define _SMGraph_Header_

#include <LEDA/graph.h>
#include "kinematics\Configuration.h"

class SMGraph
{
public:
        SMGraph(Configuration &entry);
        ~SMGraph();

        //The following two method, use to set the initial and goal
        //  in the self-motin graph
        bool SetEntryConfig(Configuration &entry);
        bool SetExitConfig(Configuration &exit);

        //The following function used to traverse the graph
        void* FirstNode();
        void* NextNode();
        Configuration* GetConfiguration(void *v);

        //According to the initial and goal find a feasible path
        //  in the self-motion grpah.
        bool GetPath();
        Configuration* FirstConfigInPath();
        Configuration* NextConfigInPath();

        //Add and edge in the self-motion graph
        void* AddConnection(void* parent, Configuration &son);
        void* AddConnection(Configuration &parent, Configuration &son);
        void Clear();

        //Optimize the connections in the self-motion graph,
        virtual bool OptimizeConnection();

        //Return the number of Node in this Graph
        int Node_Num();
        
        //The following functions are used for plotting.
        //Return the Graph data structure.
        GRAPH<Configuration *, double> *GetSMGraph();
        //Return the number of edges in this graph
        int Node_Edge();
        void GetConfig(const node& n, Configuration **conf);
        void GetConfig(const edge& e, Configuration **conf1, Configuration **conf2);
private:
        node NewNode(Configuration &config);
        node Lookup(Configuration &config);
        double Distance (const Configuration& a, const Configuration& b);


private:
        //Private member to save the entry and exit configurations.
        node entryNode;
        node exitNode;

        //The current pointer for traversing all node
        node currentNode;

        //The current pointer for retrieving path
        list_item current;
        list<Configuration *> path;

        //Self motion Graph, using Graph data structure in Leda
        //The NODE is about the configuration
        //  while, the EDGE is about the weight, distance.
        GRAPH<Configuration *, double> G;
};

#endif

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