planners/aca/jma_aca_structs.h

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/*============================================================================= *
 * File           : jma_aca_structs.c
 * Module         : ACA kernel
 * Author         : Juan Manuel AHUACTZIN
 * Creation       : Tue Jun  1 17:03:20 PDT 1999
 *
 *============================================================================= *
                (c) Copyright 1999, J.M. Ahuactzin all rights reserved
 *============================================================================= *
 *------------------------- Description ---------------------------------------  
 *   
 *------------------------- Modifications ------------------------------------- *
 * 
 * 
 */

/* Note: in the following structures the variables marked as "CONSTANT" should 
   not be changed during the program. This variables must be initialized and 
   then remain constant the long of the program, other wise you will have 
   problems. We can recognise this variables easily they start with a capital 
   letter.
*/
#ifndef _JMA_ACA_STRUCTS_H_
#define _JMA_ACA_STRUCTS_H_

#include "jma_aca_const.h"
#include "kinematics/configuration.h"

/*== structure for a configuration ==*/

typedef struct {
        Configuration dof ;
  //double dof[MAX_DOF]; /* values of each degree of freedom */
  double dist;         /* distance to the set of landmarks */
} JMA_Configuration;


/*== structure for a landmark ==*/

typedef struct {
  int N_embryos;              /* number of embryos by landmark : CONSTANT */
  int father_id;
  JMA_Configuration landmark;            /* configuration of the landmark */
  JMA_Configuration embryo[MAX_EMBRYOS]; /* set of embryos for a landmark */
} JMA_Node;

/*== structure for the roadmap tree ==*/

typedef struct {
  int N_dof;            /* number of degrees of freedom of the robot: CONSTANT*/
  int n_nodes;          /* number of nodes (landmarks) allredy set */
  double max_dist;      /* best embryo distance  */
  double last_max_dist; /* last landmark distance */ 
  int best_father_id;   /* id of the landmak containing the best embryo */
  int best_embryo_id;   /* id of the best embryo */
  JMA_Node node[MAX_LANDMARKS]; /* set of landmarks or nodes */
} JMA_Roadmap_Tree;

#endif

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