environment_navxythetamlevlat.h

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/*
 * Copyright (c) 2008, Maxim Likhachev
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef __ENVIRONMENT_NAVXYTHETAMLEVLAT_H_
#define __ENVIRONMENT_NAVXYTHETAMLEVLAT_H_

//these structures contain footprints for the additional levels 
//each of these structures corresponds to one of the EnvNAVXYTHETALATAction_t structures
typedef struct{
        char starttheta; //should be equal to the corresponding EnvNAVXYTHETALATAction_t structure
        char dX;   //should be equal to the corresponding EnvNAVXYTHETALATAction_t structure
        char dY;   //should be equal to the corresponding EnvNAVXYTHETALATAction_t structure
        char endtheta;  //should be equal to the corresponding EnvNAVXYTHETALATAction_t structure
        vector<sbpl_2Dcell_t>* intersectingcellsV; //one footprint per additional level
} EnvNAVXYTHETAMLEVLATAddInfoAction_t;


class EnvironmentNAVXYTHETAMLEVLAT : public EnvironmentNAVXYTHETALAT
{

public:

        bool InitializeAdditionalLevels(int numofadditionalzlevs, const vector<sbpl_2Dpt_t>* perimeterptsV,
                                                                unsigned char* cost_inscribed_thresh,
                                                                unsigned char* cost_possibly_circumscribed_thresh);     

        bool Set2DMapforAddLev(const unsigned char* mapdata, int levind);

        bool Set2DMapforAddLev(const unsigned char** NewGrid2D, int levind);


    bool UpdateCostinAddLev(int x, int y, unsigned char newcost, int zlev);

        virtual void GetPredsofChangedEdges(vector<nav2dcell_t> const * changedcellsV, vector<int> *preds_of_changededgesIDV)
        {
                SBPL_ERROR("ERROR: GetPredsofChangedEdges function not supported\n");
                throw new SBPL_Exception();
        }

        
        virtual void GetSuccsofChangedEdges(vector<nav2dcell_t> const * changedcellsV, vector<int> *succs_of_changededgesIDV)
        {
                SBPL_ERROR("ERROR: GetSuccsofChangedEdges function not supported\n");
                throw new SBPL_Exception();
        }

        bool IsValidCell(int X, int Y);

        bool IsValidCell(int X, int Y, int levind);

        
        bool IsObstacle(int x, int y);

        bool IsObstacle(int x, int y, int levind);

        bool IsValidConfiguration(int X, int Y, int Theta);

        unsigned char GetMapCost(int X, int Y);

        unsigned char GetMapCost(int X, int Y, int levind);


   EnvironmentNAVXYTHETAMLEVLAT();
   ~EnvironmentNAVXYTHETAMLEVLAT();

protected:
        int numofadditionalzlevs; 


        vector<sbpl_2Dpt_t>* AddLevelFootprintPolygonV;

        EnvNAVXYTHETAMLEVLATAddInfoAction_t** AdditionalInfoinActionsV; 


        unsigned char*** AddLevelGrid2D;

        unsigned char* AddLevel_cost_inscribed_thresh;
        unsigned char* AddLevel_cost_possibly_circumscribed_thresh;     

    virtual int GetActionCost(int SourceX, int SourceY, int SourceTheta, EnvNAVXYTHETALATAction_t* action);

        virtual int GetActionCostacrossAddLevels(int SourceX, int SourceY, int SourceTheta, EnvNAVXYTHETALATAction_t* action);


};



#endif