Planner.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef _RL_PLAN_PLANNER_H_
#define _RL_PLAN_PLANNER_H_
 
#include <string>
#include <rl/math/Vector.h>
#include <rl/util/Timer.h>
 
#include "VectorList.h"
 
namespace rl
{
    namespace plan
    {
        class SimpleModel;
        class Viewer;
        
        class Planner
        {
        public:
            Planner();
            
            virtual ~Planner();
            
            virtual ::std::string getName() const = 0;
            
            virtual void getPath(VectorList& path) = 0;
            
            virtual void reset() = 0;
            
            virtual bool solve() = 0;
            
            bool verify();
            
            ::rl::math::Real duration;
            
            ::rl::math::Vector* goal;
            
            SimpleModel* model;
            
            ::rl::math::Vector* start;
            
            Viewer* viewer;
            
        protected:
            ::rl::util::Timer timer;
            
        private:
            
        };
    }
}
 
#endif // _RL_PLAN_PLANNER_H_