#ifndef _TRIFIXION_H_
#define _TRIFIXION_H_

#include "global.h"

#define MAX_ROBOTS 10

/* 
 * Trifixion Class
 *
 * Trifixion is the name of this path planner. This object coordinates
 * all aspects of the path-planning process. It takes in an input
 * file (or pipe, or whatever) and an output file (or pipe, or whatever), 
 * reads in the input data and outputs a path that solves the problem.
 *
 * Trifixion expects to get a set of vertices in the input that is
 * very simple. It must look like this:
 *
 * (int) num_robots
 * (float) robot1_x_start
 * (float) robot1_y_start
 * (float) robot2_x_start
 * (float) robot2_y_start ...
 * (int) num_vertices
 * (float) x1  (x-coord of the first vertex of the env. polygon) 
 * (float) y1
 * (float) x2
 * (float) y2 ...
 *
 * An easy way to provide this input from another source file is to
 * just pipe that file through a perl script translating to this
 * format.
 *
 * The planner outputs the solution again as a series of vertices.
 * This time, you get the format:
 *
 * (int) num_vertices_for_robot_1_path
 * (float) x1,1
 * (float) y1,1
 * (float) x1,2
 * (float) y1,2 ...
 * (int) num_vertices_for_robot_2_path
 * (float) x2,1
 * (float) y2,1
 * ...
 *
 * Basically the same format. Again, you can pipe the output through a perl
 * script to spice it up. 
 *
 * I use this simplified format to cut down on useless text-manipulation
 * programming.
 */

class Environment;
class State;

class Trifixion {

public:
  Trifixion();
  ~Trifixion();

  void Start(FILE *input, FILE *output);

private:

  void read_input(int *i);
  void read_input(fixedpt *f);
  void parse_input();
  
  fixedpt perturbation();

  FILE *in;
  FILE *out;

  Environment *env;
  State *state;

  // Starting information about the robot(s).
  int num_robots;  
  Vertex *robot_starts[MAX_ROBOTS];

};


#endif  /* _TRIFIXION_H_ */