non_goal_heuristic.h

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/*
 * non_goal_heuristic.h
 *
 * LICENSE HERE
 *
 *  Created on: 2016-08-31
 *      Author: Rick Valenzano
 */

#ifndef NON_GOAL_HEURISTIC_H_
#define NON_GOAL_HEURISTIC_H_

#include "heuristic.h"
#include "goal_test_function.h"

// TODO Add debugging for invalid minimum action costs

template<class state_t>
class NonGoalHeuristic: public Heuristic<state_t>
{
public:
    NonGoalHeuristic(const GoalTestFunction<state_t> *g = 0, double min_cost = 0);

    virtual ~NonGoalHeuristic();

    void setGoalTestFunction(const GoalTestFunction<state_t> *g);

    void setMinimumActionCost(double min_cost);

protected:
    virtual double computeHValue(const state_t &state) const;

    const GoalTestFunction<state_t> *goal_test; 
    double min_action_cost; 
};

template<class state_t>
Heuristic<state_t> * getBlindHeuristic();

template<class state_t>
NonGoalHeuristic<state_t>::NonGoalHeuristic(const GoalTestFunction<state_t>* g, double min_cost)
        : goal_test(g), min_action_cost(min_cost)
{
}

template<class state_t>
NonGoalHeuristic<state_t>::~NonGoalHeuristic()
{
}

template<class state_t>
inline void NonGoalHeuristic<state_t>::setGoalTestFunction(const GoalTestFunction<state_t>* g)
{
    goal_test = g;
}

template<class state_t>
void NonGoalHeuristic<state_t>::setMinimumActionCost(double min_cost)
{
    min_action_cost = min_cost;
}

template<class state_t>
double NonGoalHeuristic<state_t>::computeHValue(const state_t& state) const
{
    if(goal_test && goal_test->isGoal(state))
        return 0.0;
    return min_action_cost;
}

template<class state_t>
Heuristic<state_t> * getBlindHeuristic()
{
    Heuristic<state_t> * h = new NonGoalHeuristic<state_t>();
    return h;
}

#endif /* NON_GOAL_HEURISTIC_H_ */