#include "/home/software/wtk9/include/wt.h"
#include <Vk/VkPeriodic.h>



extern "C" {
    #include "wtkido.h"
}

#include <strings.h>
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <sys/types.h>
#include <sys/prctl.h>
#include <signal.h>
#include <CC/iostream.h>
#include <X11/Shell.h>
#include <math.h>
#include <device.h>
#include <malloc.h>

#define arraysize 1000



	int setup_universe(int argc, char *argv[]);
	void create_scenegraph( int argc,  char *argv[]);
	void setup_sensors(void);
	void add_objects(void);
	void scan_args(int argc, char *argv[]);	/* scans command line 
							for '-' args */
	void actions(void);			/* universe actions fn */
	void handle_key(int key);		/* interpret a keypress */
	void display_keys(void);
	void display_usage(void);
	void draw_curlinkage();
	void create_cyberglove(void);
	void add_guidemap(float lx,  float ly);
	void create_image(void);
	void add_lights(void);


	void make_robot(void);
	void make_transparent_robot(void);
	void make_transparent_obstacles(void);
	void make_obstacles(void);
	
	
	void make_path();
	int check_function(float x_value, float z_value);
	void generate_goals(void);
	void nearest_point(float points[2][5]);
	void animate_robot(void);

    struct Path{
	float x[1000];
	float y[1000];
	float z[1000];
	float dir[1000];
    
    };
	
	
class Nodepaths
{
public:
    WTnodepath *obstacles[10];
    WTnodepath *transparent_obstacles[10];
    WTnodepath *transparent_robot;

};	
	
class Nodes
{
public:
    WTnode *origin_movsep[4];
    
    
};	
	
	
	
class Globals
{
public:
    WTnode *rootnode;
    Nodepaths nodepaths;
    Path path;
    float length;
    Nodes nodes;
    FLAG animate_flag;
    int i, max_iter;
    int i_count;
    
};