goal_marker.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Pablo Mejia

#ifndef CAJUN_GOAL_MARKER_H
#define CAJUN_GOAL_MARKER_H


#include "map_grid.H"
#include "rect_filler.H"

namespace cajun
{


class goal_marker_t
{
public:
        goal_marker_t (map_grid_t *map_grid_, double cell_size_);

        void mark_line (bool is_goal, double cx_, double cy_,
                        double orient_, double asize_, double xsize_);

        void mark_circle (bool is_goal_,
                          double cx_, double cy_, double radius_);

private:
        class filler_t
        {
        public:
                filler_t (map_grid_t *map_grid_) :
                        m_map_grid (map_grid_), m_is_goal (false) {}
                void set_is_goal (bool is_goal_) { m_is_goal = is_goal_; }

                void fill (int x_, int y_, unsigned w_)
                {
                        map_grid_t::iterator_t iter =
                                m_map_grid->find (x_, y_);

                        while (w_--)
                        {
                                iter->goal = m_is_goal;
                                iter.neighbor (1, 0);
                        }
                }

        protected:
                map_grid_t * const m_map_grid;

                bool m_is_goal;
        };

        double m_cell_size;

        filler_t m_filler;
        rect_filler_t m_rect_filler;
};


};


#endif

---