//----------------------------------------------------------------------
//               The Motion Strategy Library (MSL)
//----------------------------------------------------------------------
//
// Copyright (c) 1998-2001 Iowa State University and Steve LaValle.  
// All Rights Reserved.
// 
// Permission to use, copy, and distribute this software and its 
// documentation is hereby granted free of charge, provided that 
// (1) it is not a component of a commercial product, and 
// (2) this notice appears in all copies of the software and
//     related documentation. 
// 
// Iowa State University and the author make no representations
// about the suitability or fitness of this software for any purpose.  
// It is provided "as is" without express or implied warranty.
//----------------------------------------------------------------------
//
// Front end for Visibility PRM by Kevin Crotty and Andrew Olson
// in fulfillment of 2001 Com S 476 final project requirements
//
//----------------------------------------------------------------------
#include <math.h>
#include <stdlib.h>

// This includes the core header files of the Motion Strategy Library
#include <MSL/MSL.h>
#include <MSL/rendergl.h>

// This includes the visibility PRM 
#include "visprm.h"

// The next include should appear before the actual code in a file using LEDA.
// It locally uses short names like vector, list, etc., but does not cause
// name conflicts globally, assuming the last line UNDEFINE's the names.
#include <LEDA/REDEFINE_NAMES.h>

int main(int argc, char *argv[])
{
  string path;
  GuiPlanner *gui;
  Model *m = NULL;
  Geom *g = NULL;
  Problem *prob;

  if (argc < 2) {
    cout << "Try this:    slide ../data/cross\n";
    exit(-1);
  }

  path = string(argv[1])+"/";

  if (!is_directory(path)) {
    cout << "Error:   Directory does not exist\n";
    exit(-1);
  }

  SetupProblem(m,g,path);
  prob = new Problem(g,m,path);

  // Initialize everything: Gui, Scene, Render, and RRT
  // All of them will use the same file path
  gui = new GuiPlanner(new RenderGL(new Scene(prob, path), path),
		       new VisPRM(prob));

  // Activate the GUI
  gui->Start();

  return 0;
}


// Undefine the short leda names (e.g., vector now becomes leda_vector)

#include <LEDA/UNDEFINE_NAMES.h>