MountainCar.h

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/*
 *  MountainCar.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 11/29/10.
 *  Copyright 2010 University of Denver. All rights reserved.
 *
 */
 
#ifndef MOUNTAINCAR_H
#define MOUNTAINCAR_H
 
#include "SearchEnvironment.h"
 
class MountainCarState {
public:
        MountainCarState()
        :loc(-0.5), speed(0)
        {}
        double loc;
        double speed;
};
 
static bool operator==(const MountainCarState &l1, const MountainCarState &l2) {
        return fequal(l1.loc, l2.loc) && fequal(l1.speed, l2.speed);
}
 
typedef int MountainCarAction;
 
class MountainCarEnvironment : public SearchEnvironment<MountainCarState, MountainCarAction>
{
public:
        MountainCarEnvironment();
        virtual void GetSuccessors(const MountainCarState &nodeID, std::vector<MountainCarState> &neighbors) const;
        virtual void GetActions(const MountainCarState &nodeID, std::vector<MountainCarAction> &actions) const;
        //virtual int GetNumSuccessors(const MountainCarState &stateID) const;
        virtual MountainCarAction GetAction(const MountainCarState &s1, const MountainCarState &s2) const;
        virtual void ApplyAction(MountainCarState &s, MountainCarAction a) const;
        
        virtual void GetNextState(const MountainCarState &, MountainCarAction , MountainCarState &) const;
        
        virtual bool InvertAction(MountainCarAction &a) const;  
        
        virtual double HCost(const MountainCarState &node1, const MountainCarState &node2) const;
        
        virtual double HCost(const MountainCarState &node) const
        { assert(bValidSearchGoal); return HCost(node, searchGoal); }
        
        virtual double GCost(const MountainCarState &node1, const MountainCarState &node2) const;
        virtual double GCost(const MountainCarState &node, const MountainCarAction &act) const;
        virtual bool GoalTest(const MountainCarState &node, const MountainCarState &goal) const;
        
        virtual bool GoalTest(const MountainCarState &node) const
        { return bValidSearchGoal&&(node == searchGoal); }
        
        virtual uint64_t GetStateHash(const MountainCarState &node) const;
        virtual uint64_t GetActionHash(MountainCarAction act) const;
        
        virtual void OpenGLDraw() const;
        virtual void OpenGLDraw(const MountainCarState&) const;
        virtual void OpenGLDraw(const MountainCarState&, const MountainCarState&, float) const;
        virtual void OpenGLDraw(const MountainCarState&, const MountainCarAction&) const;
private:
        double GetHeightAtPosition(double queryPosition) const;
        double GetSlope(double queryPosition) const;
        
    double minPosition;
    double maxPosition;
    double minVelocity;
    double maxVelocity;
    double goalPosition;
    double accelerationFactor;
    double gravityFactor;
    double hillPeakFrequency;
};
 
#endif