BFS_3D.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 _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