//#include <iostream>
#include <LEDA/file.h>
#include <LEDA/list.h>
#include <LEDA/point.h>
#include <LEDA/polygon.h>
#include <LEDA/random.h>
#include <LEDA/stream.h>
#include <LEDA/string.h>
#include <LEDA/vector.h>

#include <LEDA/REDEFINE_NAMES.h>

int compareList(const list<node>& l1,const list<node>& l2);

class Obprm: public PRM {
 public:
  Obprm(Problem *problem);
  void Construct();
  bool Plan();

 private:
  //vector BinarySearch(const vector &x1, const vector &x2);
  vector BinarySearch(const vector x1, const vector x2);
  void ConnectComponents(node_array<int>& compnum, int c);
  void ExpandSmallComponents(node_array<int>& compnum, int c);
  void dfs(node v, node_array<int>& compnum, list<node>& l, int count);
  void Attempt(const list<node>& l1, const list<node>& l2, int k);
  void SimpleConnect( int K );
  list<node> Closest(const node& n, const list<node>& l, const int& k);
  vector RandomRotate(const vector& c1);
  bool Rotate_at_S(const double& s, const node& n1, const node& n2, const int& k);


  //int compareList(list<node> l1, list<node> l2);
  vector RandomDirection();
  vector RandomState(polygon p); 
  list< list<node> > nLL;
};


#include <LEDA/UNDEFINE_NAMES.h>