#ifndef DRRT_H
#define DRRT_H

#include "type.h"

class drrt{
private:

public:
  treenode * head;
  treenode * goal;
  treenode * oldhead;
  random_source rand;
  list<treenode*> deadnodes;
  list<treenode*> allnodes;
  list<treenode*> path;

  drrt();
  ~drrt();
  drrt(double, double);
  drrt(treenode*);
//  drrt(const & drrt);
  void initialize();
  void addnode();
  treenode * nextnode(double, double);
  treenode * findgoal(double, double);
  void growtree();
  bool move();
  void removedead(treenode*);
  void makeundead();
  void recovermem();
  }; 

#endif