pathPlanner.h

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/*******************************************************************************
** Copyright (c) 2014 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/




#pragma once

#include <features/featuresDefines.h>

#include <features/aStarGraph.h>
#include <features/featureNavigator.h>

#include <vrfutil/algorithmManager.h>

class DtTerrainInterface;

namespace MAKVRinTerra
{
   class DT_DLL_features DtPathPlanner : boost::noncopyable
   {
   public:
      typedef DtAStarGraph::PathVertex      PathVertex;
      typedef DtAStarGraph::MultiPathVertex MultiPathVertex;

      explicit DtPathPlanner(const DtProj&);

      struct PathSegment
      {
         PathVertex::List path;
         double length;

         explicit PathSegment(const PathVertex& vertex, const PathSegment& rest);

         explicit PathSegment(const PathVertex& vertex);

         explicit PathSegment();
      };

      PathSegment insertNavigationPaths(
         DtAStarGraph::MultiPathVertex& firstVertexInPath,
         const DtAreaFeatureSet& obstacles,
         size_t frontEdgesToSkip = 0,
         const DtAlgorithmManager& = DtAlgorithmManager());

      PathSegment insertNavigationPaths(
         DtAStarGraph::MultiPathVertex& path,
         const DtAreaFeatureSet& obstacles,
         const DtAlgorithmManager&);

      PathVertex::List planPath(
         DtFeatureGeometry::Point start,
         DtFeatureGeometry::Point dest,
         const DtAreaFeatureSet&,
         DtAStarGraph&,
         const DtAlgorithmManager& = DtAlgorithmManager());

      PathVertex::List planPath(
         DtFeatureGeometry::Point start,
         DtFeatureGeometry::Point dest,
         const DtAreaFeatureSet&,
         DtAStarGraph&,
         DtAStarGraph::DtWeightFactorsList& weightFactors,
         const double offRoadPathWeight,
         const DtAlgorithmManager & = DtAlgorithmManager());

      PathVertex::List planPath(
         DtFeatureGeometry::Point start,
         DtFeatureGeometry::Point dest,
         const DtTerrainInterface&,
         const std::string& obstacleQuery,
         const std::string& graphQuery,
         const DtAlgorithmManager& mgr = DtAlgorithmManager());

   protected:
      const DtProj::CPtr myLocalProj;
   };
}