OldSearchEnvironment.h

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/*
 *  SearchEnvironment.h
 *  hog
 *
 *  Created by Nathan Sturtevant on 4/5/07.
 *  Copyright 2007 Nathan Sturtevant, University of Alberta. All rights reserved.
 *
 */
 
#ifndef OLDSEARCHENVIRONMENT_H
#define OLDSEARCHENVIRONMENT_H
 
#include "Graph.h"
#include "Map.h"
 
namespace OldSearchCode {
 
        class SearchEnvironment
        {
        public:
                virtual ~SearchEnvironment() {}
                virtual void getNeighbors(uint32_t nodeID, std::vector<uint32_t> &neighbors) = 0;
                virtual double heuristic(uint32_t node1, uint32_t node2) = 0;
                virtual double gcost(uint32_t node1, uint32_t node2) = 0;
                virtual bool goalTest(uint32_t node, uint32_t goal) { return (node == goal); }
        };
 
        class MapSearchEnvironment : public SearchEnvironment
        {
        public:
                MapSearchEnvironment(Map *_map) :map(_map) {  }
                ~MapSearchEnvironment() {}
                void getNeighbors(uint32_t nodeID, std::vector<uint32_t> &neighbors);
                double heuristic(uint32_t node1, uint32_t node2);
                double gcost(uint32_t node1, uint32_t node2);
        private:
                Map *map;
        };
 
        class GraphSearchEnvironment : public SearchEnvironment
        {
        public:
                GraphSearchEnvironment(Graph *_graph) :g(_graph) {  }
                ~GraphSearchEnvironment() {}
                void getNeighbors(uint32_t nodeID, std::vector<uint32_t> &neighbors);
                double heuristic(uint32_t node1, uint32_t node2);
                double gcost(uint32_t node1, uint32_t node2);
        private:
                Graph *g;
        };
 
        class MapGraphSearchEnvironment : public SearchEnvironment
        {
        public:
                MapGraphSearchEnvironment(Map *_map, Graph *_graph) :g(_graph), m(_map) {  }
                ~MapGraphSearchEnvironment() {}
                void getNeighbors(uint32_t nodeID, std::vector<uint32_t> &neighbors);
                double heuristic(uint32_t node1, uint32_t node2);
                double gcost(uint32_t node1, uint32_t node2);
        private:
                Graph *g;
                Map *m;
        };
        
}
 
#endif