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grid.h

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/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library is  distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;  without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA


 * $Id: grid.h,v 1.1.1.1 2006/05/11 05:22:45 derek Exp $
*/

#ifndef _GRID_H
#define _GRID_H
#include <cell.h>
#include <pose_chain.h>
#include <motion_chain.h>
//const short BRANCHES = 8; // 4=traditional; 8=octagonal etc.
// XXX specific motorola
#include <types.h>

class grid
{
public:
  grid(void); 
  grid(int x, int y); 
  CELL_STATE state(int x, int y) const; 

  CELL_STATE heading(int x, int y, atomic_rotation) const;
//  atomic_rotation facing(int x, int y) const;

  void solve_maze(int cx, int cy, atomic_rotation face, const pose_chain& waypoints, int itarget, motion_chain& path, bool obstacles);
  void wall(int x, int y, CELL_STATE ctype);
  int height(void) const;
  int width(void) const;
  void save_rom_map(long ROM_ADDRESS) const;
  void load_rom_map(long ROM_ADDRESS);
  bool obstacles(void);
  void branches(short);
private:
  CELL_TYPE value(int x, int y) const;
  void whipitgood(motion_chain& path);
  void generate_bellman_matrix(void);
  void update_frontiers(int,int, atomic_rotation);
  void process_frontiers(int,int);
  bool unique_frontier(int, int);
  void traverse_back2goal(motion_chain& path);
//  bool check_heading(atomic_rotation AR,int x, int y, int& min, int& tx, int& ty, int dx, int dy, atomic_rotation& face);
  bool check_heading(atomic_rotation AR,int x, int y, int& imin);
  pose_chain _frontiers;
  pose_chain _visited;
  void init(void);
  void reinit(void);
  maze_cell _maze[22][22];
  int _starting_x;
  int _starting_y;
  int _starting_face;
  int _destination_x;
  int _destination_y;
  atomic_rotation _destination_face; // FACING
  atomic_rotation _new_face;    // FACING
  int _new_x;
  int _new_y;
//  foo _init_function;
  int _size_x;
  int _size_y;
  bool _done;
  bool _obstacles;
  short BRANCHES;
};

#endif

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