gridworld.hh

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#ifndef _GRIDWORLD_H_
#define _GRIDWORLD_H_

#include <rl_common/Random.h>

#include <iostream>
#include <vector>

class Gridworld {
public:
  Gridworld(unsigned height, unsigned width,
            const std::vector<std::vector<bool> > &northsouth,
            const std::vector<std::vector<bool> > &eastwest);

  Gridworld(unsigned width, unsigned height, Random &rng);

  unsigned height() const { return h; }
  unsigned width() const { return w; }

  bool wall(unsigned nsCoord, unsigned ewCoord, unsigned dir) const;

  friend std::ostream &operator<<(std::ostream &out, const Gridworld &g);

protected:
  void add_obstacle(Random &rng);

  void chooseSegment(unsigned first,
                     unsigned last,
                     unsigned j,
                     std::vector<std::vector<bool> > &parallel,
                     Random &rng);

private:
  bool isClear(unsigned i, unsigned j,
               std::vector<std::vector<bool> > &parallel,
               std::vector<std::vector<bool> > &perpendicular) const
  {
    if (i > parallel.size())
      return false;
    if (i < parallel.size() && parallel[i][j])
      return false;
    if (i > 0 && parallel[i - 1][j])
      return false;
    if (i > 0
        && i <= perpendicular[j].size()
        && perpendicular[j][i - 1])
      return false;
    if (i > 0
        && i <= perpendicular[j + 1].size()
        && perpendicular[j + 1][i - 1])
      return false;
    return true;
  }

  const unsigned h;
  const unsigned w;

  std::vector<std::vector<bool> > ns;

  std::vector<std::vector<bool> > ew;
};

#endif