RadiusAbstraction.h

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/*
 *  $Id: RadiusAbstraction.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 6/3/05.
 *  Modified by Nathan Sturtevant on 02/29/20.
 *
 * This file is part of HOG2. See https://github.com/nathansttt/hog2 for licensing information.
 *
 */
 
#include "MapAbstraction.h"
 
#ifndef RADIUSABSTRACTION_H
#define RADIUSABSTRACTION_H
 
class RadiusAbstraction : public MapAbstraction {
public:
        RadiusAbstraction(Map *, int);
        ~RadiusAbstraction();
        MapAbstraction *Clone(Map *_m) { return new RadiusAbstraction(_m, radius); }
        
        virtual bool Pathable(node *from, node *to);
        
        // utility functions
        virtual void VerifyHierarchy();
        
        // hierarchical modifications
        virtual void RemoveNode(node *n);
  virtual void RemoveEdge(edge *e, unsigned int absLevel);
        virtual void AddNode(node *n);
        virtual void AddEdge(edge *e, unsigned int absLevel);
  virtual void RepairAbstraction();     
private:
        void buildAbstraction();
        void buildNodeIntoParent(node *n, node *parent);
        void abstractionBFS(node *which, node *parent, int depth);
 
        void addEdges(Graph *g);
        void addNodes(Graph *g);
        
        int radius;
};
 
#endif