path_verifier.H

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// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Pablo Mejia

#ifndef CAJUN_PATH_VERIFIER_H
#define CAJUN_PATH_VERIFIER_H

#include "data_type.H"
#include "world_state.H"
#include "rndf.H"

#include "planner_defs.H"
#include "task_planner.H"

#include "uc_planner_param.H"

namespace cajun
{
class path_verifier_t
{
public:
        path_verifier_t (world_state_t *ws_, rndf_t const *rndf_);
        ~path_verifier_t ()
                {}
        bool is_task_path_good (std::deque <task_planner_t *> &task_plan_,
                                blocked_lane_data_t &blk_data_,
                                unsigned &blk_tp_ind_, unsigned &path_index_,
                                mobility_t mobility_, double &blk_speed_,
                                unsigned check_till_tp_id,
                                unsigned check_till_path_id);
private:
        world_state_t *m_world_state;
        rndf_t const *m_rndf;

        const uc_planner_param_t *m_uc_param;
        void get_all_possible_blockages (
                std::vector<blocked_lane_data_t> &blk_lanes,
                                task_planner_t *task_plan_);

        bool is_path_good (const path_t *path_,
                           std::vector <blocked_lane_data_t> &blk_lanes,
                           unsigned &break_p_, blocked_lane_data_t &blk_data_,
                           mobility_t mobility_, double &blk_speed_);


        bool is_segment_tp (TP_type_t const tp_type_);
};
};

#endif

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