include/vrfmodel/pathNode.h

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/*******************************************************************************
** Copyright (c) 2005 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: pathNode.h,v $ $Revision: 1.3 $ $State: Exp $
*******************************************************************************/



#ifndef DtPathNode_H_
#define DtPathNode_H_

#include "geometry/point.h"
#include <list>
class DtVector;
class DtList;
class DtPathPlanner;
class DtNetworkSegment;


#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtAStarNode
{
public:
   DtAStarNode(const DtPoint& point, double cost, DtPathPlanner* pathPlanner);
   virtual ~DtAStarNode();

   virtual bool expand(double valueLimit = 1e255);

   virtual void generateChildNodes() = 0;

   virtual void sortNodes();

   virtual void removeDeadEnds();

   virtual double aStarValue();

   virtual const DtPoint& point();

   virtual bool deadEnd();

   virtual void postSolution();

   virtual bool visited() = 0;

   virtual void markVisited() = 0;

   virtual void setApproachVector(const DtPoint& approachVector);

   virtual double turningCost(const DtPoint& destination);

protected:
   virtual void nearbyPreferredSegments(const DtPoint& point, 
      std::list<const DtNetworkSegment*>& resultList);


protected:
   DtPoint myPoint;
   DtPathPlanner* myPathPlanner;
   double myCost;
   double myAStarValue;
   DtList *myNodeList;
   bool myDeadEnd;
   bool myExpanded;
   DtPoint myApproachVector;
};

class DT_DLL_vrfmodel DtGridPathNode : public DtAStarNode
{
public:
   DtGridPathNode(const DtPoint& point, double cost, DtPathPlanner* pathPlanner);
   virtual ~DtGridPathNode();

   virtual void generateChildNodes();

   virtual bool visited();

   virtual void markVisited();

};

class DT_DLL_vrfmodel DtVectorPathNode : public DtAStarNode
{
public:
   DtVectorPathNode(const DtPoint& point, const DtNetworkSegment* netNode, int segmentPosition, 
         double cost, DtPathPlanner* pathPlanner);
   virtual ~DtVectorPathNode();

   virtual void generateChildNodes();

   virtual bool visited();

   virtual void markVisited();

protected:
   const DtNetworkSegment* myNetworkSegment;
   int mySegmentPosition;

};

#endif