CostManager.hpp

Go to the documentation of this file.

#ifndef LGL_COST_MANAGER_HPP
#define LGL_COST_MANAGER_HPP

#include <lgl/GeoData.hpp>
#include <lgl/Quadtree.hpp>
#include <lgl/PositionManager.hpp>

#include <lgl/NavHeuDistances.hpp>
#include <lgl/NavGNode.hpp>
#include <lgl/Attributes.hpp>

namespace jafar { //namespace jafar
  namespace lgl { //namespace lgl

    class CostManager {/*{{{*/
                
      public:

        enum DIST_TYPE {EUCLIDEAN=0, MANHATTAN};
        
        CostManager(GeoData* _geodata, Quadtree<double,GeoData>* _quadtree, PositionManager* _posManager, DIST_TYPE _distType=EUCLIDEAN);
        ~CostManager();
        
        void setDistType(DIST_TYPE _distType);

        void setObstacleLimit(double pol);

        bool weight(RasterCellIndex locClusterRootIndex, const NavLocation& loc1, const NavLocation& loc2, double& weight);

        bool weight(const NavLocation& loc1, const NavLocation& loc2, double& weight);

        bool weight(const NavLocation& loc1, const NavLocation& loc2, double costAtLoc2, double& weight);

      protected:
        
        GeoData* geodata;

        PositionManager* posManager;

        Quadtree<double,GeoData>* quadtree;

        DIST_TYPE distType;

        double obstacleLimit;

        
    }; /*}}}*/
  }
}

#endif /* LGL_COST_MANAGER_HPP */