HRICS_Cell.hpp

#ifndef HRICELL_H
#define HRICELL_H

#include "API/Grids/ThreeDCell.hpp"

#include "HRICS_Grid.hpp"

#include "Graphic-pkg.h"

namespace HRICS
{
        class Cell : public API::ThreeDCell
        {
                
        public:
                Cell();
                Cell(int i, Eigen::Vector3i pos , Eigen::Vector3d corner, HRICS::Grid* grid);
                
                ~Cell() { }
                
                double getCost();
                //        double getHRICostSpace();
                void setBlankCost() { _CostIsComputed = false; this->resetExplorationStatus(); }
                
                Eigen::Vector3i getCoord() { return _Coord; }
                
                bool getOpen() { return _Open; }
                void setOpen() { _Open = true; }
                
                bool getClosed() { return _Closed; }
                void setClosed() { _Closed = true; }
                
                void resetExplorationStatus();
                
                GLint getDisplayList() { return m_list; }
                void createDisplaylist();
                
                bool getIsCostComputed() { return _CostIsComputed; }
                
                void setGradient(const Eigen::Vector3d& grad) { m_GradientDirection = grad; } 
                Eigen::Vector3d getGradient() { return m_GradientDirection; }
                
                void draw();
                
        private:
                
                Eigen::Vector3i _Coord;
                
                double* _v0; double* _v1; double* _v2; double* _v3;
                double* _v4; double* _v5; double* _v6; double* _v7;
                
                bool _Open;
                bool _Closed;
                
                bool _CostIsComputed;
                double _Cost;
                
                GLint m_list;
                
                Eigen::Vector3d m_GradientDirection;
                
        };
        //Contenu du namespace
}


#endif // HRICELL_H