wave_gc_oracle.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_WAVE_GC_ORACLE_H
#define CAJUN_WAVE_GC_ORACLE_H


#include "gc_oracle.H"
#include "work_list_interface.H"

#include <vector>


namespace cajun
{


class grid_tile_data_t;


class wave_gc_oracle_t : public gc_oracle_t
{
public:
        wave_gc_oracle_t (double cell_size_, int neighbor_mode_, work_list_interface_t* work_list_);
        ~wave_gc_oracle_t ();

        void init (double orient_,
                   double sx_, double sy_, double gx_, double gy_);

public:

        // 01/11/06: [AL] - Support for A* heuristic
        // Cannot be inlined in .H file because it needs to set vehicle
        // position in the worklist
        virtual void set_vehicle_position (float vx, float vy);

        struct neighbor_t
        {
                neighbor_t (int dx_, int dy_, float cost_) :
                        dx (dx_), dy (dy_), cost (cost_) {}

                int dx;
                int dy;
                float cost;

                int map_dx;
                int map_dy;
        };

        std::vector<neighbor_t> m_neighbor;
        std::vector<neighbor_t> m_goal_neighbor;

        work_list_interface_t *m_work_list;
        void expand_goal (work_info_t &wi_);

        void update (search_grid_t::iterator_t const &dest_iter);
};


};


#endif

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