MotionCaptureMovement.h

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//
//  MotionCaptureMovement.h
//  hog2 glut
//
//  Created by Nathan Sturtevant on 11/9/13.
//  Copyright (c) 2013 University of Denver. All rights reserved.
//
 
#ifndef __hog2_glut__MotionCaptureMovement__
#define __hog2_glut__MotionCaptureMovement__
 
#include <iostream>
#include "SearchEnvironment.h"
#include "UnitSimulation.h"
#include "FPUtil.h"
 
struct mcMovementState {
public:
        float x, y;
        float heading;
};
 
static bool operator==(const mcMovementState &l1, const mcMovementState &l2)
{
        return ((abs(l1.x-l2.x)<0.01) &&
                        (abs(l1.y-l2.y)<0.01) &&
                        ((int)l1.heading==(int)l2.heading));
 
}
 
static std::ostream& operator <<(std::ostream & out, const mcMovementState &loc)
{
        out << "{ (" << loc.x << ", " << loc.y << ") - " << loc.heading << "}";
        return out;
}
 
typedef int mcMovementAction;
 
class MCEnvironment : public SearchEnvironment<mcMovementState, mcMovementAction>
{
public:
        MCEnvironment() {  }
        virtual void GetSuccessors(const mcMovementState &nodeID, std::vector<mcMovementState> &neighbors) const;
        virtual void GetActions(const mcMovementState &nodeID, std::vector<mcMovementAction> &actions) const;
        //virtual int GetNumSuccessors(const mcMovementState &stateID) const;
        virtual mcMovementAction GetAction(const mcMovementState &s1, const mcMovementState &s2) const;
        virtual void ApplyAction(mcMovementState &s, mcMovementAction a) const;
        
        virtual void GetNextState(const mcMovementState &, mcMovementAction , mcMovementState &) const;
        
        virtual bool InvertAction(mcMovementAction &a) const;
        
        virtual double HCost(const mcMovementState &node1, const mcMovementState &node2) const;
        
        virtual double HCost(const mcMovementState &node) const
        { assert(bValidSearchGoal); return HCost(node, searchGoal); }
        
        virtual double GCost(const mcMovementState &node1, const mcMovementState &node2) const;
        virtual double GCost(const mcMovementState &node, const mcMovementAction &act) const;
        virtual bool GoalTest(const mcMovementState &node, const mcMovementState &goal) const;
        
        virtual bool GoalTest(const mcMovementState &node) const
        { return bValidSearchGoal&&(node == searchGoal); }
        
        virtual uint64_t GetStateHash(const mcMovementState &node) const;
        virtual uint64_t GetActionHash(mcMovementAction act) const;
        
        //virtual double GetPathLength(std::vector<mcMovementState> &neighbors);
        
        virtual void OpenGLDraw() const {}
        virtual void OpenGLDraw(const mcMovementState&) const;
        virtual void OpenGLDraw(const mcMovementState&, const mcMovementState&, float) const;
        virtual void OpenGLDraw(const mcMovementState&, const mcMovementAction&) const;
        void GLDrawLine(const mcMovementState &a, const mcMovementState &b) const;
private:
        double distance(const mcMovementState &n1, const mcMovementState &n2) const;
        bool GetOpenGLCoord(float x_, float y_, GLdouble &x, GLdouble &y, GLdouble &z, GLdouble &radius) const;
 
};
 
 
#endif /* defined(__hog2_glut__MotionCaptureMovement__) */