FocalOpenClosed.h

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//
//  FocalOpenClosed.h
//  hog2 mac native demos
//
//  Created by Nathan Sturtevant on 12/27/19.
//
// A focal list + open + closed list where open is a treap and focal is a heap[?]
// Code is work in progress
 
#ifndef FocalOpenClosed_h
#define FocalOpenClosed_h
 
namespace focalOpenClosed {
 
enum dataLocation {
        kOpenList,
        kClosedList,
        kFocalList,
        kNotFound
};
 
template<typename state>
class FocalOpenClosedData {
public:
        FocalOpenClosedData() {}
        FocalOpenClosedData(const state &theData, double fCost, double gCost, double hCost, uint64_t parent, uint64_t openLoc, dataLocation location)
        :data(theData), f(fCost), g(gCost), h(hCost), parentID(parent), openLocation(openLoc), where(location) { reopened = false; }
        state data;
        double f;
        double g;
        double h;
        uint64_t parentID;
        bool reopened;
        dataLocation where;
};
 
template<typename state, typename CmpKey, class dataStructure = FocalOpenClosedData<state> >
class FocalOpenClosed {
public:
        FocalOpenClosed();
        ~FocalOpenClosed();
        void Reset(uint64_t maxKey=0);
        uint64_t AddOpenNode(const state &val, uint64_t hash, double f, double g, double h, uint64_t parent=kTAStarNoNode);
        uint64_t AddClosedNode(state &val, uint64_t hash, double f, double g, double h, uint64_t parent=kTAStarNoNode);
        void KeyChanged(uint64_t objKey);
        dataLocation Lookup(uint64_t hashKey, uint64_t &objKey) const;
        inline dataStructure &Lookup(uint64_t objKey) { return elements[objKey]; }
        inline const dataStructure &Lookat(uint64_t objKey) const { return elements[objKey]; }
        void Remove(uint64_t hash);
        uint64_t PeekOpen() const;
        uint64_t PeekFocal() const;
        uint64_t Close(uint64_t objKey);
        void Reopen(uint64_t objKey);
        
        uint64_t GetOpenItem(unsigned int which);
        size_t OpenSize() const;
        uint64_t GetOpenItem(unsigned int which);
        size_t FocalSize() const;
        size_t ClosedSize() const;
        size_t size() const;
private:
        Treap open;
        Heap focal;
};
 
}
 
#endif /* FocalOpenClosed_h */