search_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_SEARCH_GRID_PUBLISHER_H
#define CAJUN_SEARCH_GRID_PUBLISHER_H


#include "grid_publisher.H"
#include "search_grid.H"


namespace cajun
{


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

        void publish (search_grid_t &grid_, double tstamp_,
                      unsigned sequence_, float max_cost_)
        {
                m_tile.tstamp = tstamp_;
                m_sequence = sequence_;
                m_max_cost = max_cost_;
                grid_.walk (*this);
        }

        void visit (unsigned x_, unsigned y_, search_grid_t::iterator_t &iter_)
        {
                unsigned value = m_tile.INVALID_CELL;

                if (iter_->sequence == m_sequence)
                {
                        m_publish_tile = true;

                        if (iter_->cost == search_cell_t::BLOCKED_CELL)
                                value = m_tile.BLOCKED_CELL;
                        else
                                value = (unsigned)
                                        (m_tile.MAX_CELL_VALUE *
                                         iter_->cost / m_max_cost);
                }
                m_tile.cell_value[x_][y_] = value;
        }

protected:
        unsigned        m_sequence;
        float           m_max_cost;
};


};


#endif

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