#include <Map2DEnvironment.h>

Inheritance diagram for MapEnvironment:

Collaboration diagram for MapEnvironment:

[legend]

Public Member Functions
	MapEnvironment (Map *m, bool useOccupancy=false)

	MapEnvironment (MapEnvironment *)

virtual	~MapEnvironment ()

void	SetGraphHeuristic (GraphHeuristic *h)

GraphHeuristic *	GetGraphHeuristic ()

virtual void	GetSuccessors (const xyLoc &nodeID, std::vector< xyLoc > &neighbors) const

bool	GetNextSuccessor (const xyLoc &currOpenNode, const xyLoc &goal, xyLoc &next, double &currHCost, uint64_t &special, bool &validMove)

bool	GetNext4Successor (const xyLoc &currOpenNode, const xyLoc &goal, xyLoc &next, double &currHCost, uint64_t &special, bool &validMove)

bool	GetNext8Successor (const xyLoc &currOpenNode, const xyLoc &goal, xyLoc &next, double &currHCost, uint64_t &special, bool &validMove)

void	GetActions (const xyLoc &nodeID, std::vector< tDirection > &actions) const

tDirection	GetAction (const xyLoc &s1, const xyLoc &s2) const

virtual void	ApplyAction (xyLoc &s, tDirection dir) const

virtual BaseMapOccupancyInterface *	GetOccupancyInfo ()

virtual bool	InvertAction (tDirection &a) const

std::string	GetName ()

virtual double	HCost (const xyLoc &) const
	Heuristic value between node and the stored goal. More...

virtual double	HCost (const xyLoc &node1, const xyLoc &node2) const
	Heuristic value between two arbitrary nodes. More...

virtual double	GCost (const xyLoc &node1, const xyLoc &node2) const

virtual double	GCost (const xyLoc &node1, const tDirection &act) const

bool	GoalTest (const xyLoc &node, const xyLoc &goal) const

bool	GoalTest (const xyLoc &)

uint64_t	GetMaxHash () const

uint64_t	GetStateHash (const xyLoc &node) const

void	GetStateFromHash (uint64_t parent, xyLoc &s) const

uint64_t	GetActionHash (tDirection act) const

virtual void	OpenGLDraw () const

virtual void	OpenGLDraw (const xyLoc &l) const

virtual void	OpenGLDraw (const xyLoc &l1, const xyLoc &l2, float v) const
	Draw the transition at some percentage 0...1 between two states. More...

virtual void	OpenGLDraw (const xyLoc &, const tDirection &) const

virtual void	GLLabelState (const xyLoc &, const char *) const

virtual void	GLLabelState (const xyLoc &s, const char *str, double scale) const

virtual void	GLDrawLine (const xyLoc &x, const xyLoc &y) const

std::string	SVGHeader ()

std::string	SVGDraw ()

std::string	SVGDraw (const xyLoc &)

std::string	SVGLabelState (const xyLoc &, const char *, double scale) const

std::string	SVGLabelState (const xyLoc &, const char *, double scale, double xoff, double yoff) const

std::string	SVGDrawLine (const xyLoc &x, const xyLoc &y, int width=1) const

std::string	SVGFrameRect (int left, int top, int right, int bottom, int width=1)

void	Draw (Graphics::Display &disp) const

void	Draw (Graphics::Display &disp, const xyLoc &l) const

void	DrawAlternate (Graphics::Display &disp, const xyLoc &l) const

void	Draw (Graphics::Display &disp, const xyLoc &l1, const xyLoc &l2, float v) const

void	DrawStateLabel (Graphics::Display &disp, const xyLoc &l1, const char *txt) const

void	DrawStateLabel (Graphics::Display &disp, const xyLoc &l1, const xyLoc &l2, float v, const char *txt) const

void	DrawLine (Graphics::Display &disp, const xyLoc &x, const xyLoc &y, double width=1.0) const

void	DrawArrow (Graphics::Display &disp, const xyLoc &x, const xyLoc &y, double width=1.0) const

Graphics::point	GetStateLoc (const xyLoc &l1)

void	SetDrawOptions (drawOptions o)

Map *	GetMap () const

virtual void	GetNextState (const xyLoc &currents, tDirection dir, xyLoc &news) const

void	StoreGoal (xyLoc &)
	Stores the goal for use by single-state HCost. More...

void	ClearGoal ()
	Clears the goal from memory. More...

bool	IsGoalStored () const

void	SetDiagonalCost (double val)

double	GetDiagonalCost ()

bool	FourConnected ()

bool	EightConnected ()

void	SetFourConnected ()

void	SetEightConnected ()

Public Member Functions inherited from SearchEnvironment< xyLoc, tDirection >
virtual	~SearchEnvironment ()

virtual int	GetNumSuccessors (const xyLoc &stateID) const

virtual void	UndoAction (xyLoc &s, tDirection a) const

virtual bool	IsGoalStored () const
	Returns true if the goal is stored and false otherwise. More...

virtual double	HCost (const xyLoc &node1, const xyLoc &node2, double parentHCost) const

virtual bool	GoalTest (const xyLoc &node) const
	Goal Test if the goal is stored. More...

virtual uint64_t	GetMaxHash () const

virtual double	GetPathLength (std::vector< xyLoc > &neighbors)

virtual double	GetPathLength (const xyLoc &start, std::vector< tDirection > &neighbors)

virtual void	SetOccupancyInfo (OccupancyInterface< xyLoc, tDirection > *)

virtual void	OpenGLDraw () const

virtual void	GLDrawPath (const std::vector< xyLoc > &x) const

virtual void	SetColor (const rgbColor &r) const

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 rgbColor	GetColor () const

virtual void	DrawLine (Graphics::Display &display, const xyLoc &x, const xyLoc &y, float width=1.0) const

Public Member Functions inherited from Heuristic< xyLoc >
	Heuristic ()

virtual	~Heuristic ()

Protected Attributes
GraphHeuristic *	h

Map *	map

BaseMapOccupancyInterface *	oi

double	DIAGONAL_COST

bool	fourConnected

drawOptions	drawParams

Protected Attributes inherited from SearchEnvironment< xyLoc, tDirection >
bool	bValidSearchGoal

xyLoc	searchGoal

rgbColor	color

GLfloat	transparency

Private Member Functions
void	GetMaxRect (long terrain, int x, int y, int endx, int endy, std::vector< bool > &drawn, Graphics::rect &r) const

void	DrawSingleTerrain (long terrain, Graphics::Display &disp, std::vector< bool > &drawn) const

Additional Inherited Members
Public Attributes inherited from Heuristic< xyLoc >
std::vector< HeuristicTreeNode >	lookups

std::vector< Heuristic * >	heuristics

uint64_t	histogram [256]

Detailed Description

Definition at line 133 of file Map2DEnvironment.h.

Constructor & Destructor Documentation

◆ MapEnvironment() [1/2]

MapEnvironment::MapEnvironment	(	Map *	m,
		bool	useOccupancy = `false`
	)

Definition at line 18 of file Map2DEnvironment.cpp.

References kNoOptions, and ROOT_TWO.

◆ MapEnvironment() [2/2]

MapEnvironment::MapEnvironment ( MapEnvironment * me )

Definition at line 31 of file Map2DEnvironment.cpp.

References Map::Clone(), DIAGONAL_COST, fourConnected, kNoOptions, map, and oi.

◆ ~MapEnvironment()

MapEnvironment::~MapEnvironment ( )

virtual

Definition at line 43 of file Map2DEnvironment.cpp.

Member Function Documentation

◆ ApplyAction()

void MapEnvironment::ApplyAction	(	xyLoc &	s,
		tDirection	dir
	)		const

virtual

Implements SearchEnvironment< xyLoc, tDirection >.

Definition at line 432 of file Map2DEnvironment.cpp.

References kE, kN, kNE, kNW, kS, kSE, kSW, kW, xyLoc::x, and xyLoc::y.

Referenced by Map2DConstrainedEnvironment::ApplyAction(), and MPLRTA::MPLRTAStar::GetPath().

◆ ClearGoal()

void MapEnvironment::ClearGoal ( )

inlinevirtual

Clears the goal from memory.

Reimplemented from SearchEnvironment< xyLoc, tDirection >.

Definition at line 205 of file Map2DEnvironment.h.

◆ Draw() [1/3]

void MapEnvironment::Draw ( Graphics::Display & disp ) const

virtual

Reimplemented from SearchEnvironment< xyLoc, tDirection >.

Definition at line 1039 of file Map2DEnvironment.cpp.

References Colors::black, Graphics::rect::bottom, Graphics::Display::DrawLineSegments(), Graphics::Display::FillRect(), Graphics::Display::FrameRect(), kCellBorderLines, kEfficientCells, kGrass, kGround, kOutOfBounds, kSwamp, kTerrainBorderLines, kTrees, kWater, Graphics::rect::left, Colors::lightgray, px1, py1, Graphics::rect::right, and Graphics::rect::top.

Referenced by Racetrack::Draw().

◆ Draw() [2/3]

void MapEnvironment::Draw	(	Graphics::Display &	disp,
		const xyLoc &	l
	)		const

virtual

Reimplemented from SearchEnvironment< xyLoc, tDirection >.

Definition at line 1299 of file Map2DEnvironment.cpp.

References rgbColor::b, Graphics::rect::bottom, Graphics::Display::FillCircle(), rgbColor::g, Colors::GetColor(), Graphics::rect::left, rgbColor::r, Graphics::rect::right, Graphics::rect::top, xyLoc::x, and xyLoc::y.

◆ Draw() [3/3]

void MapEnvironment::Draw	(	Graphics::Display &	disp,
		const xyLoc &	l1,
		const xyLoc &	l2,
		float	v
	)		const

Definition at line 1322 of file Map2DEnvironment.cpp.

References rgbColor::b, Graphics::rect::bottom, Graphics::Display::FillCircle(), rgbColor::g, Colors::GetColor(), Graphics::rect::left, rgbColor::r, Graphics::rect::right, Graphics::rect::top, xyLoc::x, and xyLoc::y.

◆ DrawAlternate()

void MapEnvironment::DrawAlternate	(	Graphics::Display &	disp,
		const xyLoc &	l
	)		const

Definition at line 1361 of file Map2DEnvironment.cpp.

References rgbColor::b, Graphics::rect::bottom, Graphics::Display::FrameCircle(), rgbColor::g, Colors::GetColor(), Graphics::rect::left, rgbColor::r, Graphics::rect::right, Graphics::rect::top, xyLoc::x, and xyLoc::y.

◆ DrawArrow()

void MapEnvironment::DrawArrow	(	Graphics::Display &	disp,
		const xyLoc &	x,
		const xyLoc &	y,
		double	width = `1.0`
	)		const

Definition at line 1445 of file Map2DEnvironment.cpp.

References rgbColor::b, Graphics::Display::DrawArrow(), rgbColor::g, Colors::GetColor(), rgbColor::r, width, xyLoc::x, and xyLoc::y.

◆ DrawLine()

void MapEnvironment::DrawLine	(	Graphics::Display &	disp,
		const xyLoc &	x,
		const xyLoc &	y,
		double	width = `1.0`
	)		const

Definition at line 1430 of file Map2DEnvironment.cpp.

References rgbColor::b, Graphics::Display::DrawLine(), rgbColor::g, Colors::GetColor(), rgbColor::r, width, xyLoc::x, and xyLoc::y.

Referenced by Map2DSectorAbstraction::Draw(), Racetrack::Draw(), Map2DSectorAbstraction::DrawLine(), and Racetrack::DrawLine().

◆ DrawSingleTerrain()

void MapEnvironment::DrawSingleTerrain	(	long	terrain,
		Graphics::Display &	disp,
		std::vector< bool > &	drawn
	)		const

private

Definition at line 1003 of file Map2DEnvironment.cpp.

References Colors::black, Graphics::Display::FillRect(), kGrass, kGround, kSwamp, kTrees, and kWater.

◆ DrawStateLabel() [1/2]

void MapEnvironment::DrawStateLabel	(	Graphics::Display &	disp,
		const xyLoc &	l1,
		const char *	txt
	)		const

Definition at line 1392 of file Map2DEnvironment.cpp.

References rgbColor::b, Graphics::Display::DrawText(), rgbColor::g, Colors::GetColor(), rgbColor::r, xyLoc::x, and xyLoc::y.

◆ DrawStateLabel() [2/2]

void MapEnvironment::DrawStateLabel	(	Graphics::Display &	disp,
		const xyLoc &	l1,
		const xyLoc &	l2,
		float	v,
		const char *	txt
	)		const

Definition at line 1405 of file Map2DEnvironment.cpp.

References rgbColor::b, Graphics::Display::DrawText(), rgbColor::g, Colors::GetColor(), rgbColor::r, Graphics::point::x, xyLoc::x, Graphics::point::y, and xyLoc::y.

◆ EightConnected()

bool MapEnvironment::EightConnected ( )

inline

Definition at line 210 of file Map2DEnvironment.h.

References fourConnected.

◆ FourConnected()

bool MapEnvironment::FourConnected ( )

inline

Definition at line 209 of file Map2DEnvironment.h.

References fourConnected.

◆ GCost() [1/2]

double MapEnvironment::GCost	(	const xyLoc &	node1,
		const tDirection &	act
	)		const

virtual

Implements SearchEnvironment< xyLoc, tDirection >.

Definition at line 485 of file Map2DEnvironment.cpp.

References kE, kN, kNE, kNW, kS, kSE, kSW, and kW.

◆ GCost() [2/2]

double MapEnvironment::GCost	(	const xyLoc &	node1,
		const xyLoc &	node2
	)		const

virtual

Implements SearchEnvironment< xyLoc, tDirection >.

Definition at line 507 of file Map2DEnvironment.cpp.

References kSwamp, xyLoc::x, and xyLoc::y.

Referenced by MPLRTA::MPLRTAStar::GetPath().

◆ GetAction()

tDirection MapEnvironment::GetAction	(	const xyLoc &	s1,
		const xyLoc &	s2
	)		const

virtual

Reimplemented from SearchEnvironment< xyLoc, tDirection >.

Definition at line 392 of file Map2DEnvironment.cpp.

References kE, kN, kS, kStay, kTeleport, kW, xyLoc::x, and xyLoc::y.

Referenced by Map2DConstrainedEnvironment::GetAction().

◆ GetActionHash()

uint64_t MapEnvironment::GetActionHash ( tDirection act ) const

virtual

Implements SearchEnvironment< xyLoc, tDirection >.

Definition at line 547 of file Map2DEnvironment.cpp.

◆ GetActions()

void MapEnvironment::GetActions	(	const xyLoc &	nodeID,
		std::vector< tDirection > &	actions
	)		const

virtual

Implements SearchEnvironment< xyLoc, tDirection >.

Definition at line 355 of file Map2DEnvironment.cpp.

References kE, kN, kNE, kNW, kS, kSE, kSW, kW, loc::x, and loc::y.

Referenced by Map2DConstrainedEnvironment::GetActions().

◆ GetDiagonalCost()

double MapEnvironment::GetDiagonalCost ( )

inline

Definition at line 208 of file Map2DEnvironment.h.

References DIAGONAL_COST.

◆ GetGraphHeuristic()

GraphHeuristic * MapEnvironment::GetGraphHeuristic ( )

Definition at line 49 of file Map2DEnvironment.cpp.

◆ GetMap()

Map* MapEnvironment::GetMap ( ) const

inline

Definition at line 200 of file Map2DEnvironment.h.

References map.

Referenced by MPLRTA::MPLRTAStar::GetPath(), Map2DConstrainedEnvironment::GLDrawLine(), TeleportUnit::MakeMove(), MyPathfindingKeyHandler(), MapUnit::OpenGLDraw(), and Map2DConstrainedEnvironment::OpenGLDraw().

◆ GetMaxHash()

uint64_t MapEnvironment::GetMaxHash ( ) const

Definition at line 529 of file Map2DEnvironment.cpp.

◆ GetMaxRect()

void MapEnvironment::GetMaxRect	(	long	terrain,
		int	x,
		int	y,
		int	endx,
		int	endy,
		std::vector< bool > &	drawn,
		Graphics::rect &	r
	)		const

private

Definition at line 953 of file Map2DEnvironment.cpp.

◆ GetName()

std::string MapEnvironment::GetName ( )

inline

Definition at line 151 of file Map2DEnvironment.h.

References Map::GetMapName(), and map.

◆ GetNext4Successor()

bool MapEnvironment::GetNext4Successor	(	const xyLoc &	currOpenNode,
		const xyLoc &	goal,
		xyLoc &	next,
		double &	currHCost,
		uint64_t &	special,
		bool &	validMove
	)

Definition at line 102 of file Map2DEnvironment.cpp.

References kE, kN, kS, kW, xyLoc::x, and xyLoc::y.

◆ GetNext8Successor()

bool MapEnvironment::GetNext8Successor	(	const xyLoc &	currOpenNode,
		const xyLoc &	goal,
		xyLoc &	next,
		double &	currHCost,
		uint64_t &	special,
		bool &	validMove
	)

Definition at line 219 of file Map2DEnvironment.cpp.

◆ GetNextState()

void MapEnvironment::GetNextState	(	const xyLoc &	currents,
		tDirection	dir,
		xyLoc &	news
	)		const

virtual

Reimplemented from SearchEnvironment< xyLoc, tDirection >.

Definition at line 1491 of file Map2DEnvironment.cpp.

References kE, kN, kNE, kNW, kS, kSE, kSW, kW, xyLoc::x, and xyLoc::y.

◆ GetNextSuccessor()

bool MapEnvironment::GetNextSuccessor	(	const xyLoc &	currOpenNode,
		const xyLoc &	goal,
		xyLoc &	next,
		double &	currHCost,
		uint64_t &	special,
		bool &	validMove
	)