work_list_interface.H

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#ifndef CAJUN_WORK_LIST_H
#define CAJUN_WORK_LIST_H

#include "util.H"
#include "search_grid.H"
#include "map_grid.H"

#include <cassert>
#include <iostream>


namespace cajun
{

        struct work_info_t
        {
                float hcost; // 1/11/06 [AL]: Heuristic cost
                float cost;
                search_grid_t::iterator_t scell;

                int map_px;
                int map_py;
                map_grid_t::iterator_t mcell;

                bool operator< (work_info_t const &v_) const
                        // 1/11/06 [AL]: Compare using Heuristic cost
                        // was comparing cost
                         {
                                 // Assertion useful to catch situation where hcost may
                                 // not have been set. Its expected to be set in the worklist
                                 // class.
                                 assert (hcost >= cost);
                                  return v_.hcost < hcost;
                         }
        };

        typedef work_info_t work_data_t;
        class work_list_interface_t
        {
        public:
                work_list_interface_t () {};
                virtual ~work_list_interface_t () {};

                virtual void clear () = 0;
                virtual bool empty () const = 0;
                virtual void add (work_data_t &wi_) = 0;
                virtual void init_traverse () = 0;
                virtual work_data_t *get () =0;
                virtual void remove (work_data_t const &wi_) = 0;

        public:
                void set_vehicle_position (float vx, float vy)
                        {
                                m_vehicle_x = vx;
                                m_vehicle_y = vy;
                        }
        protected:
                float m_vehicle_x;
                float m_vehicle_y;



        };
 
};



#endif

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