Map2DConstrainedEnvironment.h

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//
//  Map2DConstrainedEnvironment.h
//  hog2 glut
//
//  Created by Nathan Sturtevant on 8/3/12.
//  Copyright (c) 2012 University of Denver. All rights reserved.
//
 
#ifndef __hog2_glut__Map2DConstrainedEnvironment__
#define __hog2_glut__Map2DConstrainedEnvironment__
 
#include <iostream>
 
#include "Map2DEnvironment.h"
 
struct xytLoc {
        xytLoc(xyLoc loc, int time) :l(loc), t(time) {}
        xytLoc() { t = 0; }
        xyLoc l;
        uint32_t t;
};
 
struct constraint {
        xytLoc loc;
        tDirection dir;
};
 
static std::ostream& operator <<(std::ostream & out, const xytLoc &loc)
{
        out << "(" << loc.l.x << ", " << loc.l.y << ": " << loc.t << ")";
        return out;
}
        
bool operator==(const xytLoc &l1, const xytLoc &l2);
 
 
class Map2DConstrainedEnvironment : public SearchEnvironment<xytLoc, tDirection>
{
public:
        Map2DConstrainedEnvironment(Map *m);
        void AddConstraint(constraint c);
        void AddConstraint(xytLoc loc);
        void AddConstraint(xytLoc loc, tDirection dir);
        void ClearConstraints();
 
        virtual void GetSuccessors(const xytLoc &nodeID, std::vector<xytLoc> &neighbors) const;
        virtual void GetActions(const xytLoc &nodeID, std::vector<tDirection> &actions) const;
        virtual tDirection GetAction(const xytLoc &s1, const xytLoc &s2) const;
        virtual void ApplyAction(xytLoc &s, tDirection a) const;
        virtual void UndoAction(xytLoc &s, tDirection a) const;
        
        virtual bool InvertAction(tDirection &a) const;
        
        virtual double HCost(const xytLoc &node1, const xytLoc &node2) const;
        virtual double GCost(const xytLoc &node1, const xytLoc &node2) const { return 1; }
        virtual double GCost(const xytLoc &node, const tDirection &act) const { return 1; }
        virtual bool GoalTest(const xytLoc &node, const xytLoc &goal) const;
        
        virtual uint64_t GetStateHash(const xytLoc &node) const;
        virtual uint64_t GetActionHash(tDirection act) const;
 
        virtual void OpenGLDraw() const;
        virtual void OpenGLDraw(const xytLoc&) const;
        virtual void OpenGLDraw(const xytLoc&, const tDirection&) const;
        virtual void GLDrawLine(const xytLoc &x, const xytLoc &y) const;
private:
        bool ViolatesConstraint(const xyLoc &from, const xyLoc &to, int time) const;
 
        std::vector<constraint> constraints;
        MapEnvironment *mapEnv;
};
 
#endif /* defined(__hog2_glut__Map2DConstrainedEnvironment__) */