dynamicvoronoi.h

Go to the documentation of this file.

#ifndef _DYNAMICVORONOI_H_
#define _DYNAMICVORONOI_H_


#include <stdlib.h>
#include <stdio.h>
#include <limits.h>
#include <queue>

#include "bucketedqueue.h"

class DynamicVoronoi {
  
public:
  
  DynamicVoronoi();
  ~DynamicVoronoi();

  void initializeEmpty(int _sizeX, int _sizeY, bool initGridMap=true);
  void initializeMap(int _sizeX, int _sizeY, bool** _gridMap);

  void occupyCell(int x, int y);
  void clearCell(int x, int y);
  void exchangeObstacles(std::vector<INTPOINT> newObstacles);

  void update(bool updateRealDist=true);
  void prune();
  
  float getDistance( int x, int y );
  bool isVoronoi( int x, int y );
  bool isOccupied(int x, int y);
  void visualize(const char* filename="result.ppm");

  unsigned int getSizeX() {return sizeX;}
  unsigned int getSizeY() {return sizeY;}

private:  
  struct dataCell {
    float dist;
    char voronoi;
    char queueing;
    int obstX;
    int obstY;
    bool needsRaise;
    int sqdist;
  };

  typedef enum {voronoiKeep=-4, freeQueued = -3, voronoiRetry=-2, voronoiPrune=-1, free=0, occupied=1} State;
  typedef enum {fwNotQueued=1, fwQueued=2, fwProcessed=3, bwQueued=4, bwProcessed=1} QueueingState;
  typedef enum {invalidObstData = SHRT_MAX/2} ObstDataState;
  typedef enum {pruned, keep, retry} markerMatchResult;


  
  // methods
  void setObstacle(int x, int y);
  void removeObstacle(int x, int y);
  inline void checkVoro(int x, int y, int nx, int ny, dataCell& c, dataCell& nc);
  void recheckVoro();
  void commitAndColorize(bool updateRealDist=true);
  inline void reviveVoroNeighbors(int &x, int &y);

  inline bool isOccupied(int &x, int &y, dataCell &c);
  inline markerMatchResult markerMatch(int x, int y);

  // queues

  BucketPrioQueue open;
  std::queue<INTPOINT> pruneQueue;

  std::vector<INTPOINT> removeList;
  std::vector<INTPOINT> addList;
  std::vector<INTPOINT> lastObstacles;

  // maps
  int sizeY;
  int sizeX;
  dataCell** data;
  bool** gridMap;

  // parameters
  int padding;
  double doubleThreshold;

  double sqrt2;

  //  dataCell** getData(){ return data; }
};


#endif