E* Interpolated Graph Replanner Wed Dec 12 18:55:40 2007
00001 /* 00002 * Copyright (C) 2007 Roland Philippsen <roland dot philippsen at gmx net> 00003 * 00004 * This program is free software; you can redistribute it and/or modify 00005 * it under the terms of the GNU General Public License as published by 00006 * the Free Software Foundation; either version 2 of the License, or 00007 * (at your option) any later version. 00008 * 00009 * This program is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 * GNU General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU General Public License 00015 * along with this program; if not, write to the Free Software 00016 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 00017 * USA 00018 */ 00019 00020 00021 #ifndef ESTAR_FACADE_READ_INTERFACE_HPP 00022 #define ESTAR_FACADE_READ_INTERFACE_HPP 00023 00024 00025 #include <estar/GridNode.hpp> 00026 #include <vector> 00027 00028 00029 namespace estar { 00030 00031 class Algorithm; 00032 class Grid; 00033 class Kernel; 00034 00035 00041 struct carrot_item { 00042 carrot_item(double x, double y, double gx, double gy, double val, bool dgn) 00043 : cx(x), cy(y), gradx(gx), grady(gy), value(val), degenerate(dgn) {} 00044 double cx; 00045 double cy; 00046 double gradx; 00047 double grady; 00048 double value; 00049 bool degenerate; 00050 }; 00051 00052 typedef std::vector<carrot_item> carrot_trace; 00053 00054 00061 class FacadeReadInterface 00062 { 00063 public: 00064 virtual ~FacadeReadInterface() {} 00065 00072 typedef enum { 00074 OUT_OF_GRID, 00076 UPWIND, 00078 DOWNWIND, 00080 WAVEFRONT, 00082 GOAL, 00084 OBSTACLE 00085 } node_status_t; 00086 00090 virtual double GetScale() const = 0; 00091 00097 virtual double GetFreespaceMeta() const = 0; 00098 00104 virtual double GetObstacleMeta() const = 0; 00105 00111 virtual double GetValue(ssize_t ix, ssize_t iy) const = 0; 00112 00118 virtual double GetMeta(ssize_t ix, ssize_t iy) const = 0; 00119 00123 virtual bool IsGoal(ssize_t ix, ssize_t iy) const = 0; 00124 00131 virtual bool HaveWork() const = 0; 00132 00142 virtual node_status_t GetStatus(ssize_t ix, ssize_t iy) const = 0; 00143 00149 virtual node_status_t GetStatus(vertex_t vertex) const = 0; 00150 00154 virtual bool IsValidIndex(ssize_t ix, ssize_t iy) const = 0; 00155 00169 virtual bool GetLowestInconsistentValue(double & value) const = 0; 00170 00174 virtual const Algorithm & GetAlgorithm() const = 0; 00175 00176 protected: 00177 friend void dump_raw(const FacadeReadInterface &, FILE *, FILE *); 00178 friend void dump_queue(const FacadeReadInterface &, size_t, FILE *); 00179 friend void dump_facade_range_highlight(const FacadeReadInterface &, 00180 ssize_t, ssize_t, ssize_t, ssize_t, 00181 ssize_t, ssize_t, FILE *); 00182 00186 virtual boost::shared_ptr<Grid const> GetGrid() const = 0; 00187 public: 00188 00192 virtual const Kernel & GetKernel() const = 0; 00193 00194 00223 virtual int TraceCarrot(double robot_x, double robot_y, 00224 double distance, double stepsize, 00225 size_t maxsteps, 00226 carrot_trace & trace) const = 0; 00227 00228 virtual boost::shared_ptr<GridCSpace const> GetCSpace() const = 0; 00229 }; 00230 00231 } // namespace estar 00232 00233 #endif // ESTAR_FACADE_READ_INTERFACE_HPP