EstarPlanner.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_PILOT_ESTARPLANNER_H_
#define _MIRA_PILOT_ESTARPLANNER_H_

#include <pilot/MetricPlannerBase.h>

namespace estar {

class Facade;
class Grid;
class Algorithm;
class Kernel;

}

namespace mira { namespace pilot {


class EstarPlanner : public MetricPlannerBase
{
    MIRA_OBJECT(EstarPlanner)
public:
    EstarPlanner(bool useDoubleBuffer = false,
                 bool persistentDoubleBuffer = false);
    virtual ~EstarPlanner() {}

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MetricPlannerBase);
    }

public:

    // Implementation of AbstractMetricPlanner::infinity()
    virtual double infinity() const;

    virtual bool hasValidGoal() const;

    virtual bool haveWork() const;

    virtual void planStep();

public:

    virtual double getCurrentValueMap(const Point2i& mapPos) const;

    virtual Carrot getCurrentCarrot(const Point2f& pos, int maxCount,
                                    float maxDistance = 1e10f) const;

    virtual maps::CostMap getCurrentNavFunction() const;

protected:

    virtual Status getStatusMap(const Point2i& p) const;

    virtual Img8U1 getStatusField() const;

protected:

    virtual bool isValid() const;
    virtual void reset();
    virtual void copyDoubleBuffer();
    virtual void removeGoals();
    virtual void addGoal(const Point2i& p, float cost);
    virtual void freeCell(const Point2i& p);
    virtual void dirtyCell(const Point2i& p, double value);

protected:

    boost::shared_ptr<estar::Facade> mFacade;
    boost::shared_ptr<estar::Grid> mGrid;
    boost::shared_ptr<estar::Algorithm> mAlgorithm;
    boost::shared_ptr<estar::Kernel> mKernel;
};


}}

#endif