VisibleArea.hpp

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#ifndef LGL_VISIBLEAREA_HPP
#define LGL_VISIBLEAREA_HPP

#include <lgl/GeoData.hpp>
#include <lgl/NavGNode.hpp>
#include <lgl/CellID.hpp>

#include <set>

#ifndef DEFAULT_VIEW_LENGTH
#define DEFAULT_VIEW_LENGTH 10.0
#endif

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

    class VisibleArea {
      private :
      
        Cell_ID originalVertex ;        // "Center" of the Area :
                            // visibility is compute according to this vertex.
      
        // size of environment
        unsigned long int xsize ; // 2N+1 : vertices
        unsigned long int ysize ; // 2N+1 : vertices


      public:
          
        std::set<Cell_ID> visibleArea ;   // Sorted list of the Vertices 
                          // from which the original vertex is visible.
                              
        VisibleArea() : originalVertex (0), xsize(0), ysize(0) {}

        VisibleArea(  Cell_ID _originalVertex,
                const unsigned long int &_xsize,
                const unsigned long int &_ysize
              ):
                originalVertex (_originalVertex),
                xsize(_xsize),
                ysize(_ysize)
        {
        }

        ~VisibleArea(){}

        void updateArea ( const std::set<Cell_ID> &otherArea );

        
        Cell_ID getOriginalVertex() const;

        unsigned long int getxsize() const;
        unsigned long int getysize() const;

        void printVisibleArea() ;

    }; 

    std::ostream& operator<<(std::ostream& out, const VisibleArea &_visibleArea);
  
  } // end of namespace lgl
} // end of namespace jafar

#endif /* LGL_VISIBLEAREA_HPP */