gc_oracle.H

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// Copyright (C) 2005 Pablo Mejia
// Copyright (C) 2005 University of Louisiana at Lafayette


#ifndef CAJUN_GC_ORACLE_H
#define CAJUN_GC_ORACLE_H


#include "map_grid.H"
#include "search_grid.H"


#include <cmath>
#include <vector>


namespace cajun
{


class gc_oracle_t
{
public:
        gc_oracle_t (double cell_size_) :
                m_cell_size (cell_size_), m_sequence (0),
                m_map_grid (0), m_search_grid (0),
                // 01/11/06: [AL] Track vehicle position to help with A* heuritic
                m_vehicle_x (0), m_vehicle_y (0)
                {}
        virtual ~gc_oracle_t () {}

        void set_map_grid (map_grid_t *grid_) { m_map_grid = grid_; }
        void set_search_grid (search_grid_t *grid_) { m_search_grid = grid_; }

        virtual void init (double orient_,
                           double sx_, double sy_, double gx_, double gy_) = 0;

        float cost (search_grid_t::iterator_t const &iter)
        {
                if (iter->sequence != m_sequence)
                        update (iter);
                return iter->cost;
        }

        unsigned sequence () const { return m_sequence; }
        float max_cost () const { return m_max_cost; }

protected:
        double const m_cell_size;

        float m_max_cost;
        double m_orient;
        unsigned m_sequence;
        map_grid_t *m_map_grid;
        search_grid_t *m_search_grid;

        virtual void update (search_grid_t::iterator_t const &dest_iter) = 0;


        void split_coord (double c_, int &i_, float &f_) const
        {
                double v = c_ / m_cell_size;

                i_ = (int) floor (v);
                f_ = v - i_;
        }

public:
        // 01/11/06: [AL] Support for A* heuritic
        // Virtual method, to aid in propagating vehicle position to the
        // worklist where the heuristic cost is computed
        virtual void set_vehicle_position (float vx, float vy) = 0;
protected:
        float m_vehicle_x;
        float m_vehicle_y;


};


};


#endif

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