map_pathfinding_transitions.h

Go to the documentation of this file.

/*
 * map_pathfinding_transitions.h
 *
 * LICENSE HERE
 *
 *  Created on: 2016-09-23
 *      Author: Rick Valenzano
 */

#ifndef MAP_PATHFINDING_TRANSITIONS_H_
#define MAP_PATHFINDING_TRANSITIONS_H_

#include "map_location.h"
#include "../../generic_defs/transition_system.h"

enum class MapDir
{
    north, northeast, east, southeast, south, southwest, west, northwest, dummy
};

class MapPathfindingTransitions: public TransitionSystem<MapLocation, MapDir>
{
public:
    MapPathfindingTransitions(bool four_dirs = true);

    MapPathfindingTransitions(std::string file_name, bool four_dirs = true);

    virtual ~MapPathfindingTransitions();

    // Overloaded methods.
    virtual bool isApplicable(const MapLocation &state, const MapDir &action) const;
    virtual double getActionCost(const MapLocation &state, const MapDir &action) const;
    virtual void applyAction(MapLocation &state, const MapDir &action) const;
    virtual void getActions(const MapLocation &state, std::vector<MapDir> &actions) const;
    virtual bool isInvertible(const MapLocation &state, const MapDir &action) const;
    virtual MapDir getInverse(const MapLocation &state, const MapDir &action) const;
    MapDir getDummyAction() const;
    bool isDummyAction(const MapDir &action) const;

    bool loadMap(std::string file_name);

    unsigned getMapWidth() const;

    unsigned getMapHeight() const;

    void set4Connected();

    void set8Connected();

    bool setDiagonalCost(double d_cost);

    bool is4Connected() const;

    bool is8Connected() const;

    void clearMap();

protected:

    bool canNorth(const MapLocation &state) const;

    bool canEast(const MapLocation &state) const;

    bool canSouth(const MapLocation &state) const;

    bool canWest(const MapLocation &state) const;

    bool isNEEmpty(const MapLocation &state) const;

    bool isSEEmpty(const MapLocation &state) const;

    bool isSWEmpty(const MapLocation &state) const;

    bool isNWEmpty(const MapLocation &state) const;

    unsigned map_width; 
    unsigned map_height; 

    bool four_connected; 
    double diag_cost; 
    std::vector<std::vector<bool> > grid_empty; 
};

std::ostream& operator <<(std::ostream & out, const MapDir &dir);

#endif /* MAP_PATHFINDING_TRANSITIONS_H_ */