PursuitAPI.hpp

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#ifndef LGL_PURSUIT_API_HPP
#define LGL_PURSUIT_API_HPP

#include "lgl/PursuitGraph.hpp"
#include "lgl/PursuitNavigator.hpp"
#include "lgl/VisibilityMap.hpp"
#include "lgl/GeoData.hpp"

//#include <lgl/PursuitGraph.hpp>
//#include <lgl/PursuitStats.hpp>
//
//#include <ostream>
#include <string>
//#include <vector>



namespace jafar {
  namespace lgl {

    //-----------------------------------//
    //---- Useful structures
    //

    typedef struct {
      // paths for lgl raster
      std::string robotAccessPath   ; 
      std::string targetAccessPath  ; 
      std::string robotVisibPath    ; 

      // parameters for the pursuit game
        unsigned int viewLength     ;
        unsigned int riskTermMaxValue ;         
        unsigned int sensorHeight   ;     

      // scale and offset to change the reference
        unsigned int  xOffset ; // x coordinate of the zero
        unsigned int  yOffset ; // y coordinate of the zero
        double      scale ;   // number of meters for one pixel       
    } PursuitInitParam;
      

    typedef struct {
      int x ;
      int y ;
    } Pos;

    typedef struct {
      int x ;
      int y ;
      unsigned int t ;
    } Danger;

    typedef struct {
      // Current protagonist's positions 
      Pos targetPos ;
      Pos robotPos  ;
      // desired position for the robot
      Pos desiredRobotPos ;

      // horizon
      unsigned int horizon ;

      unsigned int nFront  ;
      unsigned int nRisk   ;
      unsigned int nDanger ;

      // Danger list
      std::vector<Danger> dangerList ;

    } PursuitState ;
      


    class PursuitAPI 
    {
      public:
        
        //-----------------------------------//
        //---- Constructors and Destructor
        //
        PursuitAPI(   std::string  _robotAccessPath , 
                std::string  _targetAccessPath  , 
                std::string  _robotVisibPath  , 
                unsigned int _viewLength    ,
                  unsigned int _riskTermMaxValue  ,         
                  unsigned int _sensorHeight    ,       
                  unsigned int _xOffset = 0   ,     
                  unsigned int _yOffset = 0   ,     
                  double     _scale = 1.0         
                );
        
        ~PursuitAPI(){}


        
        //-----------------------------------//
        //---- Computing functions
        //
        // first computation
        int startPG(Pos _robotPos, Pos _targetPos) ;

        // update with new protagonists positions
        int updatePG(Pos _robotPos, Pos _targetPos) ;

        // compute the PG to extend the temporal horizon
        int computePG();


        
        //-----------------------------------//
        //---- Setters and Getters
        //
        // Set the initial parameters and (re-)initialize both the world models and the pursuit graph
        int setInitParams(  std::string _robotAccessPath  , 
                  std::string _targetAccessPath , 
                  std::string _robotVisibPath   , 
                  unsigned int _viewLength    ,
                    unsigned int _riskTermMaxValue  ,         
                    unsigned int _sensorHeight    ,       
                    unsigned int _xOffset = 0   ,     
                    unsigned int _yOffset = 0   ,     
                    double     _scale = 1.0         
                  );
        
        PursuitInitParam getInitParams();

        PursuitState getCurrentState();

        //-----------------------------------//
        //---- Checkers
        //
        //  Check the validity of a given position with the GeoData maps
        //  int : the value in the internal reference
        //  double : use offset and scale
        bool checkPos( int x, int y );
        bool checkPos( double x, double y );
    

      private:

        //-----------------------------------//
        //---- Embedded data
        
        // Internal Data
        // Parameters for initialization
        PursuitInitParam initParam ;

        // World representation for navigation and visibility
          PursuitNavigator* pNavigator  ;
        GeoData* pGeodata         ; 
        VisibilityMap* pVisibilityMap   ; 

        // Pursuit Graph
        PursuitGraph* pPG ;

        // internal state
        PursuitState currentState ;

        //-----------------------------------//
        //---- FUNCTIONS
        
        // Initialization functions
        // Initialization for navigation and visibility with the world, according to init parameters
        int initWorld();

        // Initialisation of the pursuit graph (after initWorld)
        int initPG();


    };

  }
}

#endif // LGL_PURSUIT_API_HPP