GraphRefinementEnvironment.h

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/*
 *  GraphRefinementEnvironment.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 4/15/10.
 *  Copyright 2010 NS Software. All rights reserved.
 *
 */
 
#ifndef GRAPHREFINEMENTENVIRONMENT_H
#define GRAPHREFINEMENTENVIRONMENT_H
 
#include <stdint.h>
#include <unordered_map>
#include <iostream>
#include "GraphEnvironment.h"
#include "GraphAbstraction.h"
 
class GraphRefinementEnvironment : public GraphEnvironment
{
public:
        GraphRefinementEnvironment(GraphAbstraction *ga, int planLevel, GraphHeuristic *gh, Map *m = 0);
        ~GraphRefinementEnvironment();
        
//      void SetPlanningLevel(int planLevel);
//      int GetPlanningLevel();
        
        virtual void GetSuccessors(const graphState &stateID, std::vector<graphState> &neighbors) const;
        virtual void GetActions(const graphState &stateID, std::vector<graphMove> &actions) const;
        virtual bool GoalTest(const graphState &state, const graphState &goal) const;
        virtual bool GoalTest(const graphState &) const { assert(false); return false; }
        virtual void SetUseAbstractGoal(bool use, int level) { useAbstractGoal = use; abstractGoalLevel = level; }
        //void SetPlanningCorridor(std::vector<graphState> &corridor, int level);
        void SetPlanningCorridor(std::vector<graphState> &corridor, int level, int start = 0);
        double HCost(const graphState &state1, const graphState &state2) const;
        double HCost(const graphState &) const { assert(false); return false; }
private:
        GraphAbstraction *ga;
        typedef std::unordered_map<graphState, bool> CorridorCheck;
        int planLevel, corridorLevel, abstractGoalLevel;
        bool useAbstractGoal;
        CorridorCheck corridorTable;
};
 
#endif