BFS_3D.h

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#ifndef _SBPL_BFS_3D_H_
#define _SBPL_BFS_3D_H_

#include <boost/thread.hpp>

namespace sbpl_interface {

#define WALL         0x7FFFFFFF
#define UNDISCOVERED 0xFFFFFFFF

class BFS_3D {
private:
  int dim_x, dim_y, dim_z;
  int dim_xy, dim_xyz;

  int origin;
  int volatile* distance_grid;

  int* queue;
  int queue_head, queue_tail;

  boost::shared_ptr<boost::thread> search_thread_;

  volatile bool running;

  void search(int, int, int volatile*, int*, int&, int&);
  inline int getNode(int, int, int);

public:
  BFS_3D(int, int, int);
  ~BFS_3D();

  void getDimensions(int*, int*, int*);

  void setWall(int, int, int);
  bool isWall(int, int, int);

  void run(int, int, int);

  int getDistance(int, int, int);
};
}

#endif