#ifndef TYPE_H
#define TYPE_H

#include <LEDA/list.h>
#include <LEDA/window.h>
#include <LEDA/ps_file.h>

#include <stdio.h>
#include <stdlib.h>
#include <iostream.h>
#include <fstream.h>
#include <math.h>
#include <string.h>
#include <time.h>

#include "obstacle.h"
#include "evader.h"
#include "treenode.h"
#include "drrt.h"

#define WWIDTH 600
#define WHEIGHT 600 
#define DRRT_SIZE 800 // initial size of the RRT
#define INC_SIZE 100 // # of nodes added if stuck
#define MIN_SIZE 800 // follows unstuck path until # nodes under this #
#define WIN_DIST .9 // allowable distance to kill on spot
#define STEP 1.0 // size to step robot
#define MAX_STEPS 4 // number of steps to move before remaking the tree
#define CLOSE_KILL 225 // if closer than this, we go to evader.
#define PRED_STEP 25 // if evader moved so far, we predict where it will be.


extern evader E;
extern window W;
extern ps_file PS;
extern drrt D;
extern list<obstacle> O;
extern ofstream logfile;
extern long max_mem;
extern long total_nodes;
extern long tree_length;

#endif