NavGNode.hpp

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#ifndef LGL_ENVIRONMENT_GRAPH_NODE_HPP
#define LGL_ENVIRONMENT_GRAPH_NODE_HPP

#include <lgl/Location.hpp>
#include <iostream>

namespace jafar {
  namespace lgl {
    
    struct NavGNode {

      NavLocation pos;
      
      double grp;

      bool hasPotential;
      
      NavGNode(int _x=0, int _y=0):pos(_x,_y), grp(0.0), hasPotential(false)
      { }
      
      NavGNode(const  NavLocation& _loc):
        pos(_loc.pos_x,_loc.pos_y),
        grp(0.0),
        hasPotential(false)
      {
        pos.setUTMPos(_loc.utm_x, _loc.utm_y, _loc.utm_z);
      }
      
      ~NavGNode() { }

      void setPotential(double val) {//{{{
        if (hasPotential)
        {
          grp = grp + val;
        } else {
          grp = val;
          hasPotential = true;
        }
      }//}}}

      bool operator==(const NavGNode &rhs) const
      { //{{{
        return ((pos.pos_x == rhs.pos.pos_x) 
             && (pos.pos_y == rhs.pos.pos_y)
             && (pos.pos_z == rhs.pos.pos_z));
      } //}}}

      bool operator< (const NavGNode &rhs) const // need to be const (for std:set<#>)
      {
        if ( pos.pos_x < rhs.pos.pos_x ) return (true ); 
        if ( pos.pos_x > rhs.pos.pos_x ) return (false); 
        if ( pos.pos_y < rhs.pos.pos_y ) return (true );
        if ( pos.pos_y > rhs.pos.pos_y ) return (false);
        if ( pos.pos_y > rhs.pos.pos_y ) return (true );
        else return (false) ;
      }
              
      bool operator> (const NavGNode &rhs) const // need to be const (for std:set<#>)
      {
        if ( pos.pos_x > rhs.pos.pos_x ) return (true ); 
        if ( pos.pos_x < rhs.pos.pos_x ) return (false); 
        if ( pos.pos_y > rhs.pos.pos_y ) return (true );
        if ( pos.pos_y < rhs.pos.pos_y ) return (false);
        if ( pos.pos_y > rhs.pos.pos_y ) return (true );
        else return (false) ;
      }

    };

  
    /* output stream for NavGNode */
    std::ostream& operator<<(std::ostream& out, NavGNode const &rhs);

  }
}

#endif /* LGL_ENVIRONMENT_GRAPH_NODE_HPP */