/**
 * planrpf.C
 *
 * Planner using Random Potential Field
 * Com Sci 476
 * Nick Mayer & Shaun Jurgemeyer
 */

#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>
#include "randpfield.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>


/*
 * Lanuches the GUI for the planner with our RPF as the default planner
 */
int main(int argc, char *argv[])
{
  string path;
  GuiPlanner *gui;
  Model *m = NULL;
  Geom *g = NULL;
  Problem *prob;

  if (argc < 2) {
    cout << "Try this: planrpf ~cs352/data/M-2d" << endl;
    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);

  // Create our planner, initilized with the default values
  RandPField *rpf = new RandPField(prob);

  /* The default is:
  rpf->init(50,                 // numberOfRandomStates
            15,                 // stuckPathsize
            3,                  // numberOfBounces
            100,                // numberOfBounceSteps
            50,                 // backtrackLength
            50/1,               // stuckRatio
            1,                  // translationStepSize
            1 / (2* 3.1416),    // RotationStepSize
            3,                  // smoothingIterations
            false);             // forceHolonomic            
  */

  // Modify the constants if desired
  rpf->init(50,                 // numberOfRandomStates
            15,                 // stuckPathsize
            3,                  // numberOfBounces
            100,                // numberOfBounceSteps
            50,                 // backtrackLength
            50/1,               // stuckRatio
            1,                  // translationStepSize
            1 / (2* 3.1416),    // RotationStepSize
            3,                  // smoothingIterations
            true);              // forceHolonomic

  // Create the GUI
  gui = new GuiPlanner(new RenderGL(new Scene(prob, path), path),
		       rpf);

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

  return 0;
} // end main

// Undefine the short leda names (e.g., vector now becomes leda_vector)
#include <LEDA/UNDEFINE_NAMES.h>