HPAStar.h

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/*
 * hpaStar.h
 *
 * Created by Renee Jansen on 05/16/06
 *
 */
 
#ifndef HPASTAR_H
#define HPASTAR_H
 
#include "SearchAlgorithm.h"
#include "ClusterAbstraction.h"
 
class hpaStar : public SearchAlgorithm {
public:
        
        // From HPA* original code - smoothwizard.h
        typedef enum {
                NORTH,
                EAST,
                SOUTH,
                WEST,
                NE,
                SE,
                SW,
                NW} Direction;
 
        typedef enum {
                BEGIN,
                END,
                TWO_BACK} SmoothType;
 
        hpaStar();
        virtual ~hpaStar(){}
 
        virtual path* GetPath(GraphAbstraction *aMap, node* from, node* to, reservationProvider *rp = 0);
 
        virtual const char *GetName() { return algName; } 
        void setUpSearch(node* from, node* to);
        path* findAbstractPath(node* from, node* to);
        path* findMapPath(path* abPath,node* from,node* to);
        void cleanUpSearch(); 
        path* smoothPath(path* p);
        void setSmoothing(bool smooth);
        void setPartialPathLimit(int limit) { partialLimit = limit; 
                sprintf(algName,"HPA*(%d)",partialLimit); }
        int getPartialPathLimit() { return partialLimit; }
        void setSmoothType(SmoothType s) { smType = s; }
 
        // Ensure that the abstraction is a ClusterAbstraction
        void setAbstraction(ClusterAbstraction* _m) { m = _m; } 
 
protected:
        char algName[30];
        ClusterAbstraction* m;
        int partialLimit;
        node* fromnum;
        node* tonum;
        std::vector<node*> lookup;
        path* nextPathNode(node* n, int dir);
        node* getNextNode(int x, int y, int dir);
        bool smoothing;
        SmoothType smType;
        bool nextInLookup(int last, int curr, std::vector<node*> lookup);
        int backTwoNodes(int i, std::vector<node*> lookup);
        void findMinMax(path* p);
        int minx;
        int maxx;
        int miny;
        int maxy;
};
 
#endif