HRICS_Grid.hpp

#ifndef HRIGRID_HPP
#define HRIGRID_HPP

#include "API/Device/robot.hpp"
#include "API/Grids/ThreeDGrid.hpp"

namespace HRICS
{
        
        class Cell;
        
        class Grid : public API::ThreeDGrid
        {
        public:
                Grid();
                Grid( std::vector<int> size );
                Grid(double pace, std::vector<double> envSize);
                
                API::ThreeDCell* createNewCell(unsigned int index, unsigned int x, unsigned int y, unsigned int z );
                void computeAllCellCost();
                
                void drawVectorField();
                void drawSpheres();
                void draw();
                void resetCellCost();
                
                void setRobot(Robot* rob) { _Robot = rob; }
                Robot* getRobot() { return _Robot; }
                
                bool isVirtualObjectPathValid(Cell* fromCell,Cell* toCell);
                
                void computeVectorField();
                
        private:
                
                Robot* _Robot;
        };
}

#endif // HRIGRID_HPP