hostQueryImplementation.h

Go to the documentation of this file.

#pragma once
#include "terrainReasoning/terrainReasonerAlgos.h"
#include "terrainReasoning/terrainAccessor.h"
#include <string>
#include <vector>
#include <iostream>
using namespace std;
class DtScriptedTaskTask;

class DtHostQueryImplementation : public DtHostQueryInterface
{
public:
   DtHostQueryImplementation(const DtPhysicalWorld& physicalWorld, DtVector coordTransformOriginLocal, string origin) :
      myTerrainAccessor(physicalWorld, coordTransformOriginLocal) {
      //cout << "*** " << origin << "\n";
   }
   virtual bool checkLineOfSight(double topoFromX, double topoFromY, double heightAboveFrom,
      double topoToX, double topoToY, double heightAboveTo) const;
   virtual double getHeight(double topoX, double topoY) const;
   DtVector localToTopo(DtVector pointLocal) const { return myTerrainAccessor.localToTopo(pointLocal); }
   DtVector topoToLocal(double topoX, double topoY, double heightAboveGround = 0) const { return myTerrainAccessor.topoToLocal(topoX, topoY, heightAboveGround); }

private:
   DtTerrainAccessor myTerrainAccessor;
};