NaryTree.h

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/*
 *  NaryTree.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 10/20/10.
 *  Copyright 2010 University of Denver. All rights reserved.
 *
 */
 
 
#include "SearchEnvironment.h"
#include <vector>
#include "Graphics.h"
 
#ifndef NARYTREE_H
#define NARTTREE_H
 
typedef uint64_t NaryState;
typedef int NaryAction;
 
class NaryTree : public SearchEnvironment<NaryState, NaryAction>
{
public:
        NaryTree(int branchingFactor, int depth);
        int GetBranchingFactor() { return b; }
        NaryState GetLastNode() { return totalNodesAtDepth.back()-1; }
        NaryState GetParent(NaryState s) const;
        virtual void GetSuccessors(const NaryState &nodeID, std::vector<NaryState> &neighbors) const;
        virtual void GetActions(const NaryState &nodeID, std::vector<NaryAction> &actions) const;
        //virtual int GetNumSuccessors(const NaryState &stateID) const;
        virtual NaryAction GetAction(const NaryState &s1, const NaryState &s2) const;
        virtual void ApplyAction(NaryState &s, NaryAction a) const;
        
        virtual void GetNextState(const NaryState &, NaryAction , NaryState &) const;
        
        virtual bool InvertAction(NaryAction &a) const;
        
        virtual double HCost(const NaryState &node1, const NaryState &node2) const;
        
        virtual double HCost(const NaryState &node) const
        { assert(bValidSearchGoal); return HCost(node, searchGoal); }
        
        virtual double GCost(const NaryState &node1, const NaryState &node2) const;
        virtual double GCost(const NaryState &node, const NaryAction &act) const;
        virtual bool GoalTest(const NaryState &node, const NaryState &goal) const;
        
        virtual bool GoalTest(const NaryState &node) const
        { return bValidSearchGoal&&(node == searchGoal); }
        
        virtual uint64_t GetStateHash(const NaryState &node) const;
        virtual uint64_t GetActionHash(NaryAction act) const;
        
        //virtual double GetPathLength(std::vector<NaryState> &neighbors);
        void SetWidthScale(double v) { scaleWidth = v;}
        virtual void OpenGLDraw() const;
        virtual void OpenGLDraw(const NaryState&) const;
        virtual void OpenGLDraw(const NaryState&, const NaryState&, float) const;
        virtual void OpenGLDraw(const NaryState&, const NaryAction&) const;
        //virtual void GLLabelState(const state&, const char *) const {} // draw label over state
        void GLDrawLine(const NaryState &x, const NaryState &y) const;
 
        virtual void Draw(Graphics::Display &display) const;
        virtual void Draw(Graphics::Display &display, const NaryState &s) const;
        virtual void DrawLine(Graphics::Display &display, const NaryState &, const NaryState &, float width) const;
 
 
        NaryState GetClosestNode(float x, float y);
private:
        int GetDepth(const NaryState s) const;
        float GetDepthRadius(int depth) const;
        uint64_t GetOffset(const NaryState s) const;
        void GetLocation(const NaryState &s, float &x, float &y) const;
        int b, d;
        std::vector<uint64_t> nodesAtDepth;
        std::vector<uint64_t> totalNodesAtDepth;
        double scaleWidth;
};
 
#endif