ConfigEnvironment.h

Go to the documentation of this file.

/*
 *  ConfigEnvironment.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 1/9/09.
 *  Copyright 2009 NS Software. All rights reserved.
 *
 */
 
#include "GLUtil.h"
#include "SearchEnvironment.h"
#include <stdlib.h>
#include <stdio.h>
 
class ConfigEnvironment : public SearchEnvironment<recVec, line2d>
{
public:
        ConfigEnvironment();
        virtual ~ConfigEnvironment();
 
        void AddObstacle(line2d obs) { obstacles.push_back(obs); }
        void PopObstacle() { obstacles.pop_back(); }
        void GetSuccessors(const recVec &nodeID, std::vector<recVec> &neighbors) const;
        void GetActions(const recVec &nodeID, std::vector<line2d> &actions) const;
        line2d GetAction(const recVec &s1, const recVec &s2) const;
        virtual void ApplyAction(recVec &s, line2d dir) const;
 
        virtual bool InvertAction(line2d &a) const;
 
        virtual double HCost(const recVec &) const {
                printf("Single State HCost Failure: method not implemented for ConfigEnvironment\n");
                exit(0); return -1.0;}
 
        virtual double HCost(const recVec &node1, const recVec &node2) const;
        virtual double GCost(const recVec &node1, const recVec &node2) const;
        virtual double GCost(const recVec &node1, const line2d &act) const;
        bool GoalTest(const recVec &node, const recVec &goal) const;
 
        bool GoalTest(const recVec &) const {
                printf("Single State Goal Test Failure: method not implemented for ConfigEnvironment\n");
                exit(0); return false;}
 
        uint64_t GetStateHash(const recVec &node) const;
        uint64_t GetActionHash(line2d act) const;
 
        virtual void OpenGLDraw() const;
        virtual void OpenGLDraw(const recVec &l) const;
        virtual void OpenGLDraw(const recVec &, const line2d &) const;
        virtual void OpenGLDraw(const recVec&, const recVec&, float) const {}
 
        virtual void GetNextState(const recVec &currents, line2d dir, recVec &news) const;
 
        void StoreGoal(recVec &g) { goal = g; goal_stored = true;} // stores the locations for the given goal state
        void ClearGoal() {goal_stored = false;}
        bool IsGoalStored() const {return false;}
 
 
//      bool LegalState(line2d &a);
//      bool LegalArmConfig(line2d &a);
private:
        bool Legal(const recVec &a, const recVec &b) const;
        recVec goal;
        void DrawLine(line2d l) const;
        std::vector<line2d> obstacles;
 
        bool goal_stored;
};