include/architecture/planner/HybridPlanner.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2008
* 
* Class HybridPlanner
*
*/
#pragma once
#ifndef __HYBRID__PLANNER__
#define __HYBRID__PLANNER__

#include <iostream>
#include <stdlib.h>
#include "ClThread.h"
#include "ClMutex.h"
#include "stepEvent.h"
#include "slamInterface.h"
#include "treeNode.h"
#include "reactive.h"
#include "planner.h"
#include "ConfigFile.h"


/**
* @brief Implements a Hybrid Deliberative/Reactive Planner 
*
*/

class HybridPlanner: public planner{

private:

/// Gateway cell structure for hybrid planner
typedef struct door{
        float x;
        float y;
        float scale;
        door(): x(0.0f),y(0.0f), scale(0.0f){}
}door;


///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////

protected:
        
        bool badlocalized;                      // state flags
        int state;                              // state of the planner
        bool showPlanner;                       // Flag that indicates if the planning figure must be displayed
        bool endPlanner;                        // Flag that indicates that the thread must conclude in the next iteration 
        ClMutex closing;                        // Mutex for a right stopping of the thread
        IplImage* im;

        // parameters
        int eszdilationradius;                  
        float actionradius;     
        int min_frontier_length;
        int min_gateway_length;
        float utility_radius;

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////

public:

        /// Constructor
        HybridPlanner(const ConfigFile& config);
        /// Destructor
        virtual ~HybridPlanner();

protected:

        int setup();                                    // Thread setup
        void onStop();                                  // Thread on stop
        void execute();                                 // Thead execution body

        /// creates an exploration tree
        treeNode* createExplorationTree(int numrobots, const point* robotcells, const point& pos, const gridMapInterface& omap, const binMap& precisemap, const binMap& imprecisemap);
        /// seeks for adjacent zones
        void seekChildren(int numrobots, const point* robotcells, const binMap& safezone, const binMap& filter, treeNode& node, const gridMapInterface& omap, const binMap& precisemap, const binMap& imprecisemap);
        /// clusters a binmap 
        int cluster(int numrobots, const point* robotcells, const binMap& map, treeNode& parent, int nodetype);
        /// recursive clustering
        bool clustering(const int &i, const int &j, binMap& aux, const binMap& map, door& cl, std::list<point> &seq, bool backfront);
        /// evaluates the exploration tree
        void evalTree(treeNode& tree);
        /// evals a zone of the tree
        void evalZone(int numrobots, const point* robotcells, const binMap& map, treeNode& node, const gridMapInterface& omap, const binMap& precisemap, const binMap& imprecisemap);


//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

};

#endif