30 #ifndef HPP_CORE_VISIBILITY_PRM_PLANNER_HH
31 #define HPP_CORE_VISIBILITY_PRM_PLANNER_HH
52 virtual void oneStep();
61 void init(
const VisibilityPrmPlannerWkPtr_t& weak);
64 typedef std::tuple<NodePtr_t, Configuration_t, PathPtr_t> DelayedEdge_t;
65 typedef std::vector<DelayedEdge_t> DelayedEdges_t;
66 VisibilityPrmPlannerWkPtr_t weakPtr_;
67 DelayedEdges_t delayedEdges_;
68 std::map<NodePtr_t, bool> nodeStatus_;
84 #endif // HPP_CORE_VISIBILITY_PRM_PLANNER_HH