RoadMap.h

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//
//  RoadMap.h
//  hog2 glut
//
//  Created by Nathan Sturtevant on 8/25/17.
//  Copyright © 2017 University of Denver. All rights reserved.
//
 
#ifndef RoadMap_h
#define RoadMap_h
 
#include <stdio.h>
#include "SearchEnvironment.h"
#include "GraphEnvironment.h"
 
typedef graphState intersection;
typedef graphMove neighbor;
 
class RoadMap : public SearchEnvironment<intersection, neighbor> {
public:
        RoadMap(const char *graph, const char *coordinates, bool time);
        virtual ~RoadMap();
        virtual void GetSuccessors(const intersection &nodeID, std::vector<intersection> &neighbors) const;
        virtual void GetActions(const intersection &nodeID, std::vector<neighbor> &actions) const;
        Graph *GetGraph() { return g; }
        virtual neighbor GetAction(const intersection &s1, const intersection &s2) const;
        virtual void ApplyAction(intersection &s, neighbor a) const;
        
        virtual bool InvertAction(neighbor &a) const;
        
        virtual double HCost(const intersection &node1, const intersection &node2) const;
        virtual double GCost(const intersection &node1, const intersection &node2) const;
        virtual double GCost(const intersection &node, const neighbor &act) const;
        virtual bool GoalTest(const intersection &node, const intersection &goal) const;
        
        virtual uint64_t GetMaxHash() const;
        virtual uint64_t GetStateHash(const intersection &node) const;
        virtual void GetStateFromHash(uint64_t parent, intersection &s) const;
        
        virtual uint64_t GetActionHash(neighbor act) const;
        std::string GetName() { return std::string("RoadMap"); }
        virtual void SetColor(GLfloat rr, GLfloat g, GLfloat b, GLfloat t = 1.0) const;
        virtual void GetColor(GLfloat& rr, GLfloat& g, GLfloat& b, GLfloat &t) const;
        virtual void OpenGLDraw() const;
        virtual void OpenGLDraw(const intersection&) const;
        virtual void OpenGLDraw(const intersection&, const neighbor&) const;
        virtual void GLDrawPath(const std::vector<intersection> &x) const;
protected:
        GraphEnvironment *ge;
        Graph *g;
        double maxSpeed;
        double scale;
};
 
 
#endif /* RoadMap_h */