HRICS_GridState.hpp

#ifndef HRIGRIDSTATE_HPP
#define HRIGRIDSTATE_HPP

#include "API/planningAPI.hpp"
#include "HRI_costspace/Grid/HRICS_Grid.hpp"
#include "HRI_costspace/Grid/HRICS_Cell.hpp"

namespace HRICS
{
        class State : public API::State
        {
        public:
                State() {}
                State( Eigen::Vector3i cell, Grid* grid);
                State( Cell* cell , Grid* grid);
                
                std::vector<API::State*> getSuccessors();
                
                bool isLeaf();          /* leaf control for an admissible heuristic function; the test of h==0*/
                bool equal(API::State* other);
                
                void setClosed(std::vector<State*>& closedStates,std::vector<State*>& openStates);
                bool isColsed(std::vector<State*>& closedStates);
                
                void setOpen(std::vector<State*>& openStates);
                bool isOpen(std::vector<State*>& openStates);
                
                void reset();
                
                void print();
                
                Cell* getCell() { return _Cell; }
                
        protected:
                double computeLength(API::State *parent);       /* g */
                double computeHeuristic(API::State *parent = NULL ,API::State* goal = NULL);    /* h */
                
        private:
                Cell* _Cell;
                Grid* _Grid;
        };
}

#endif // HRIGRIDSTATE_HPP