sensorModel.hpp

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#ifndef REDNAV_SENSORMODEL_HPP
#define REDNAV_SENSORMODEL_HPP

#include <stdlib.h>

#include <lgl/Attributes.hpp>
#include <lgl/GeoData.hpp>

namespace jafar {
  namespace rednav {
    
    class SensorModel {
      private:
        double* sensormat;

        int sensormatSize;
      
        int randomModel;

        double sensorRange;

        double maxChanfreinDist;

        double shortRangeChanfreinDist;

        int distanceDampingModel;

        double distanceDampingFactor;

        double visibilityMinRadius;

      public:
        ~SensorModel();

        SensorModel();

        SensorModel(int n);

        bool watchCell(int i, int j, jafar::lgl::GeoData* gdin, jafar::lgl::GeoData* gdout);

        bool watchAttributes(const jafar::lgl::Attributes &attin, jafar::lgl::Attributes& attout);

        bool calculateInformationGain(int i, int j, jafar::lgl::GeoData* gdin, double& result);

        bool simulateCellVision(int i, int j, jafar::lgl::GeoData* gdin, jafar::lgl::GeoData* gdout);

        bool simulateAttributes(const jafar::lgl::Attributes &attreal, jafar::lgl::Attributes& attout, double dist);

        bool checkModelAppliance(const jafar::lgl::Attributes &attin);

        double chanfreinDistance(int ao, int bo, int a, int b);

        bool isIntervisible(jafar::lgl::GeoData* geoWorld, int x1coord, int y1coord, int x2coord, int y2coord);

        bool isLandDrivable(jafar::lgl::GeoData* geoWorld, int x1coord, int y1coord, int x2coord, int y2coord);

        double getDistanceFactor(int ox, int oy, int i, int j, jafar::lgl::GeoData* geoW=NULL);

        double getVisibilityMinRadius();

        bool setSensorMatrix(int i, int j, double val);

        void setSensorRange(double ssr);

        void setDistanceDampingModel(int mod_); 

        void setVisibilityMinRadius(double vmr_);
    };
  }
}

#endif /* REDNAV_SENSORMODEL_HPP */