19 #ifndef HPP_CORE_VISIBILITY_PRM_PLANNER_HH
20 # define HPP_CORE_VISIBILITY_PRM_PLANNER_HH
22 # include <boost/tuple/tuple.hpp>
42 virtual void oneStep ();
50 void init (
const VisibilityPrmPlannerWkPtr_t& weak);
52 typedef boost::tuple <NodePtr_t, ConfigurationPtr_t, PathPtr_t>
54 typedef std::vector <DelayedEdge_t> DelayedEdges_t;
55 VisibilityPrmPlannerWkPtr_t weakPtr_;
56 DelayedEdges_t delayedEdges_;
57 std::map <NodePtr_t, bool> nodeStatus_;
66 void applyConstraints (
76 #endif // HPP_CORE_VISIBILITY_PRM_PLANNER_HH