Map2DSectorAbstractionEnvironment.h

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//
//  Map2DSectorAbstractionEnvironment.h
//  hog2 mac native demos
//
//  Created by Nathan Sturtevant on 5/23/18.
//  Copyright © 2018 NS Software. All rights reserved.
//
 
#ifndef Map2DSectorAbstractionEnvironment_h
#define Map2DSectorAbstractionEnvironment_h
 
#include <stdio.h>
#include "Map2DEnvironment.h"
#include "MinimalSectorAbstraction.h"
 
struct abstractGridState
{
        int sector;
        int region;
};
 
struct abstractMove {
        int direction;
        int region;
};
 
bool operator==(const abstractGridState &, const abstractGridState &);
 
class Map2DSectorAbstraction : public SearchEnvironment<abstractGridState, abstractMove>  {
public:
        Map2DSectorAbstraction(Map *m, int sectorSize);
        ~Map2DSectorAbstraction();
        void GetSuccessors(const abstractGridState &nodeID, std::vector<abstractGridState> &neighbors) const;
        void GetActions(const abstractGridState &nodeID, std::vector<abstractMove> &actions) const;
        
        virtual void ApplyAction(abstractGridState &s, abstractMove a) const;
 
        xyLoc GetState(const abstractGridState &loc) const;
        abstractGridState GetAbstractState(const xyLoc &loc) const;
 
        bool InvertAction(abstractMove &a) const
        { return false; }
        
        virtual double HCost(const abstractGridState &node1, const abstractGridState &node2) const;
        
        virtual double GCost(const abstractGridState &node1, const abstractGridState &node2) const;
        virtual double GCost(const abstractGridState &node, const abstractMove &act) const;
        virtual bool GoalTest(const abstractGridState &node, const abstractGridState &goal) const;
        
        virtual uint64_t GetStateHash(const abstractGridState &node) const;
        
        virtual uint64_t GetActionHash(abstractMove act) const;
        
        virtual void OpenGLDraw() const {};
        virtual void OpenGLDraw(const abstractGridState&) const {};
        virtual void OpenGLDraw(const abstractGridState&, const abstractGridState&, float) const {}
        virtual void OpenGLDraw(const abstractGridState&, const abstractMove&) const {};
        virtual void GLLabelabstractGridState(const abstractGridState&, const char *) const {}
        virtual void GLDrawLine(const abstractGridState &x, const abstractGridState &y) const {}
        
        virtual void Draw(Graphics::Display &display) const;
        virtual void Draw(Graphics::Display &display, const abstractGridState&) const;
        virtual void DrawLine(Graphics::Display &display, const abstractGridState &x, const abstractGridState &y, float width = 1.0) const;
        
private:
        Map *map;
        MapEnvironment *me;
        MinimalSectorAbstraction *msa;
        mutable std::vector<tempEdgeData> actions;
        mutable std::vector<abstractGridState> nbr;
};
 
#endif /* Map2DSectorAbstractionEnvironment_h */