RLG.h

#ifndef ROBOTICS_RLG_H
#define ROBOTICS_RLG_H

#include "JointStructure.h"

class RLG
{
public:
  RLG(RobotKinematics3D& robot, const JointStructure& js);
  void SampleFrom(int k);
  void Sample(const vector<IKGoal>& ik);
  void Sample(const IKGoal& goal);

  void IterateParent(int k);
  void IterateChild(int k);
  void SampleParent(int k);
  void SampleChild(int k);
  void GetAnglesParent(int k,vector<AngleSet>& a) const;
  void GetAnglesChild(int k,vector<AngleSet>& a) const;
  virtual bool SolveAnalyticIKParent(int k) const { return false; }
  virtual bool SolveAnalyticIKChild(int k) const { return false; }

  RobotKinematics3D& robot;
  const JointStructure& js;
};

class FreeRLG : public RLG
{
public:
  FreeRLG(RobotKinematics3D& robot, const JointStructure& js);
  void SampleFromRoot();
  virtual bool SolveAnalyticIKParent(int k) const;
};

#endif