grid-functors.h

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#ifndef __GRID_FUNCTORS_H
#define __GRID_FUNCTORS_H

#include "gridmap/grid-map.h"

struct MapCorrelation
{
        GridMap& map;
        long long int correlation;
        int pointCount;
        
        MapCorrelation(GridMap& map) : map(map), correlation(0), pointCount(0) {}
        
        bool operator()(const int x, const int y, const int texVal, const bool reverseScan)
        {
                const long long int iMapVal(map.atInternalCoord(x, y) / 4);
                correlation += texVal * iMapVal;
                ++pointCount;
                return true;
        }
};

struct MapUpdater
{
        GridMap& map;
        
        MapUpdater(GridMap& map) : map(map) {}
        
        bool operator()(const int x, const int y, const int texVal, const bool reverseScan)
        {
                GridMap::Value& mapVal(map.atInternalCoord(x, y));
                int iMapVal(mapVal);
                iMapVal += texVal;
                mapVal = GridMap::saturatedValueFromInt(iMapVal);
                return true;
        }
};

struct MapConstUpdater
{
        GridMap& map;
        const int value;
        
        MapConstUpdater(GridMap& map, const int value) : map(map), value(value) {}
        
        bool operator()(const int x, const int y, const int texVal, const bool reverseScan)
        {
                GridMap::Value& mapVal(map.atInternalCoord(x, y));
                int iMapVal(mapVal);
                iMapVal += value;
                mapVal = GridMap::saturatedValueFromInt(iMapVal);
                return true;
        }
};

struct MapWallFinder
{
        GridMap& map;
        const GridMap::Value wallSeen;
        int wallX, wallY;
        
        MapWallFinder(GridMap& map, const GridMap::Value wallSeen = 0) : map(map), wallSeen(wallSeen), wallX(-1), wallY(-1) {}
        
        bool operator()(const int x, const int y, const int texVal, const bool reverseScan)
        {
                // if we have seen a wall twice, with > 90 % probability each time, we are confident it is a wall
                // as update function set prob value at 0 on wall, consider that as well there
                const GridMap::Value& mapValue(map.atInternalCoord(x, y));
                if (mapValue > wallSeen)
                {
                        wallX = x;
                        wallY = y;
                        if (!reverseScan)
                                return false;
                }
                return true;
        }
        
        void clearWall()
        {
                wallX = -1;
                wallY = -1;
        }
};

struct MapEndOfAreaFinder
{
        const GridMap& map;
        int eoaX, eoaY;
        const GridMap::Value areaLabel;
        
        MapEndOfAreaFinder(const GridMap& map, const GridMap::Value areaLabel) : map(map), eoaX(-1), eoaY(-1), areaLabel(areaLabel) {}
        
        bool operator()(const int x, const int y, const int texVal, const bool reverseScan)
        {
                // if we see another label, that means the end of this one
                const GridMap::Value& mapValue(map.atInternalCoord(x, y));
                if (mapValue != areaLabel)
                {
                        eoaX = x;
                        eoaY = y;
                        if (!reverseScan)
                                return false;
                }
                return true;
        }
        
        void clearEndOfArea()
        {
                eoaX = -1;
                eoaY = -1;
        }
};

struct Drawer
{
        GridMap& map;
        
        Drawer(GridMap& map) : map(map) {}
        
        bool operator()(const int x, const int y, const int texVal, const bool reverseScan)
        {
                map.atInternalCoord(x,y) = texVal ;
                return true;
        }
};

#endif // __GRID_FUNCTORS_H