map_grid_publisher.H

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// Copyright (C) 2005 Pablo Mejia
// Copyright (C) 2005 University of Louisiana at Lafayette
// Authors: Pablo Mejia, Suresh Golconda


#ifndef CAJUN_MAP_GRID_PUBLISHER_H
#define CAJUN_MAP_GRID_PUBLISHER_H


#include "grid_publisher.H"
#include "map_grid.H"


namespace cajun
{


class map_grid_publisher_t : public grid_publisher_t
{
public:
        map_grid_publisher_t (unsigned qid_, double cell_size_) :
                grid_publisher_t (qid_, cell_size_) {}

        void publish (map_grid_t &grid_, double tstamp_)
        {
                m_tile.tstamp = tstamp_;
                grid_.walk (*this);
        }
        void visit (unsigned x_, unsigned y_, map_grid_t::iterator_t &iter_)
        {
                if (iter_->goal ||
                    iter_->boundary == map_cell_t::BLOCKED_CELL ||
                    iter_->obstacle == map_cell_t::BLOCKED_CELL)
                        m_tile.cell_value[x_][y_] = m_tile.BLOCKED_CELL;
                else
                {
                        float cost = iter_->obstacle + iter_->boundary;

                        m_publish_tile = true;
                        m_tile.cell_value[x_][y_] =
                                unsigned (cost * m_tile.MAX_CELL_VALUE / 7);
                }
        }
};


};


#endif

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