src/smp/planners/rrg.h

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#ifndef _SMP_PLANNER_RRG_H_
#define _SMP_PLANNER_RRG_H_

#include <smp/planners/base_incremental.h>
#include <smp/planners/planner_parameters.h>


namespace smp {


    template< class typeparams > 
    class rrg : public planner_incremental< typeparams > {


        typedef typename typeparams::state state_t;
        typedef typename typeparams::input input_t;

        typedef trajectory<typeparams> trajectory_t;

        typedef vertex<typeparams> vertex_t;
        typedef edge<typeparams> edge_t;

        typedef planner_incremental<typeparams> planner_t;

        typedef planner_parameters parameters_t;

        typedef sampler_base<typeparams> sampler_t;
        typedef distance_evaluator_base<typeparams> distance_evaluator_t;
        typedef extender_base<typeparams> extender_t;
        typedef collision_checker_base<typeparams> collision_checker_t;
        typedef model_checker_base<typeparams> model_checker_t;

    private:


        // This function adds the given state to the beginning of the tracjetory and calls the collision checker.
        int check_extended_trajectory_for_collision (state_t *state, trajectory_t *trajectory) {

            trajectory->list_states.push_front (state);
            int collision_check = this->collision_checker.check_collision_trajectory (trajectory);
            trajectory->list_states.pop_front ();

            return collision_check;
        }



    public:



        parameters_t parameters;


        rrg ();
        ~rrg ();

        rrg (sampler_t &sampler_in, distance_evaluator_t &distance_evaluator_in, extender_t &extender_in, 
             collision_checker_t &collision_checker_in, model_checker_t &model_checker_in);


        int iteration (); 

    };


}

#endif