zone_marker.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda

#ifndef CAJUN_BOUNDARY_MARKER_H
#define CAJUN_BOUNDARY_MARKER_H


#include "map_grid.H"
#include "rect_filler.H"
#include <math.h>

#include "rndf.H"


#include <vector>


namespace cajun
{


//class route_t;


class zone_marker_t
{
public:
        zone_marker_t (map_grid_t *map_grid_,
                       double cell_size_, rndf_t const *rndf_,
                       unsigned zone_id_);

        struct cost_t
        {
                float dist;
                float cost;
        };

        void mark ();
        void mark_boundary ();
        void mark_all_parking_spots ();
        void mark_parking_spot (unsigned spot_id_);

private:
        class filler_t
        {
        public:
                filler_t (map_grid_t *map_grid_) :
                        m_map_grid (map_grid_), m_cost (FLT_MAX) {}
                void set_cost (float cost_) { m_cost = cost_; }

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

                        while (w_--)
                        {
                                iter->boundary = m_cost;
                                iter.neighbor (1, 0);
                        }
                }

        protected:
                map_grid_t * const m_map_grid;

                float m_cost;
        };

        double m_cell_size;

        filler_t m_filler;
        rect_filler_t m_rect_filler;

        rndf_t const *m_rndf;
        unsigned m_zone_id;

        void fill (double x0_, double y0_,
                   double x1_, double y1_, double size_)
        {
                double orient = atan2 (y1_ - y0_, x1_ - x0_);
                double dx = size_ * cos (orient);
                double dy = size_ * sin (orient);

                x0_ -= dx;
                y0_ -= dy;
                x1_ += dx;
                y1_ += dy;

                m_rect_filler.fill (m_filler,
                                    x0_ / m_cell_size, y0_ / m_cell_size,
                                    x1_ / m_cell_size, y1_ / m_cell_size,
                                    size_ / m_cell_size);
        }
};


};


#endif

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