obstacle_marker.H

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


#ifndef CAJUN_OBSTACLE_MARKER_H
#define CAJUN_OBSTACLE_MARKER_H


#include "map_grid.H"
#include "world_state.H"

#include "rect_filler.H"

#include <vector>

namespace cajun
{


class conf_t;


class obstacle_marker_t
{
public:
        obstacle_marker_t (world_state_t *ws_, map_grid_t *map_grid_,
                           double cell_size_) :
                m_ws (ws_), m_map_grid (map_grid_),
                m_cell_size (cell_size_), m_filler (map_grid_) { init ();}


        void mark (double x_, double y_);
        void mark_line (double x1_, double y1_, double x2_, double y2_);

        void unmark (double min_x_, double min_y_, double max_index_x_,
                     double max_index_y_);

protected:

        class filler_t
        {
        public:
                filler_t (map_grid_t *map_grid_) :
                        m_map_grid (map_grid_), m_obstacle (0) {}
                void set_obstacle (bool is_obstacle_)
                        { m_obstacle = is_obstacle_; }

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

                        while (w_--)
                        {
                                if (m_obstacle)
                                        iter->obstacle = FLT_MAX;
                                else
                                        iter->obstacle = 0;

                                iter.neighbor (1, 0);
                        }
                }

        protected:
                map_grid_t * const m_map_grid;

                bool m_obstacle;
        };

        rect_filler_t m_rect_filler;




        struct strip_t
        {
                int dx;
                int dy;
                std::vector<float> value;
        };

        world_state_t *m_ws;
        map_grid_t *m_map_grid;
        double m_cell_size;
        filler_t m_filler;

        // circular expansion
        std::vector<strip_t> m_strip;
        bool init ();//conf_t const &conf_);
};


};


#endif

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