estar/Kernel.hpp

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00001 /* 
00002  * Copyright (C) 2005 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_KERNEL_HPP
00022 #define ESTAR_KERNEL_HPP
00023 
00024 
00025 namespace estar {
00026   
00027   
00028   class Propagator;
00029   
00030   
00039   class Kernel {
00040   public:
00041     const double freespace_meta;
00042     const double obstacle_meta;
00043     const double scale;
00044     
00045     Kernel(double fsm, double obm, double _scale)
00046       : freespace_meta(fsm), obstacle_meta(obm), scale(_scale) { }
00047     
00048     virtual ~Kernel();
00049     
00050     double Compute(Propagator & propagator) const;
00051     
00056     virtual bool ChangeWouldRaise(double oldmeta, double newmeta) const;
00057     
00058   protected:
00059     virtual
00060     double DoCompute(Propagator & propagator) const = 0;
00061   };
00062   
00063   
00064 } // namespace estar
00065 
00066 #endif // ESTAR_KERNEL_HPP

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