HRICS_NaturalCell.hpp

/*
 *  HRICS_NaturalCell.h
 *  BioMove3D
 *
 *  Created by Jim Mainprice on 27/04/10.
 *  Copyright 2010 LAAS/CNRS. All rights reserved.
 *
 */

#ifndef HRICS_NATURALCELL_H_
#define HRICS_NATURALCELL_H_

#include "API/planningAPI.hpp"
#include "Graphic-pkg.h"
#include "HRICS_NaturalGrid.hpp"

namespace HRICS
{
        class NaturalCell : public API::ThreeDCell
        {
                
        public:
                NaturalCell();
                NaturalCell(int i, Eigen::Vector3i pos , Eigen::Vector3d corner, NaturalGrid* grid);
                //NaturalCell(const NaturalCell& cell);
                
                ~NaturalCell() { }
                
                double getCost();
                double getCost(bool leftHand);
                void setCost(double Cost) { m_Cost = Cost; }
                void setBlankCost();
                
#ifdef HRI_PLANNER
                void computeReachability();
#endif
                void resetReachable();
                bool getIsLeftArmReachable();
                
                Eigen::Vector3d getWorkspacePoint();
                
                void setIsReachable(bool reach) { m_IsReachable = reach; }
                void setIsReachableWithLA(bool reach) { m_IsReachWithLeftArm = reach; }
                void setIsReachableWithRA(bool reach) { m_IsReachWithRightArm = reach; }
                
                bool isReachable() { return m_IsReachable; }
                bool isReachableWithLA() { return m_IsReachWithLeftArm; }
                bool isReachableWithRA() { return m_IsReachWithRightArm; }
                
                Eigen::Vector3i getCoord() { return m_Coord; }
                
                bool getOpen() { return m_Open; }
                void setOpen() { m_Open = true; }
                
                bool getClosed() { return m_Closed; }
                void setClosed() { m_Closed = true; }
    
    void setUseExternalCost(bool use) { m_use_external_cost=use;  }
    void setExternalCost(double cost) { m_external_cost=cost; }
                
                void resetExplorationStatus();
                
                void createDisplaylist();
                
                void draw();
                
                bool writeToXml(xmlNodePtr cur);
                bool readCellFromXml(xmlNodePtr cur);
                
                int setRobotToStoredConfig();
                
        private:
                
                Eigen::Vector3i m_Coord;
                
                double* m_v0; double* m_v1; double* m_v2; double* m_v3;
                double* m_v4; double* m_v5; double* m_v6; double* m_v7;
                
                bool m_Open;
                bool m_Closed;
                
                bool m_IsCostComputed;
                double m_Cost;
                
                bool m_IsReachable;
                bool m_IsReachWithLeftArm;
                bool m_IsReachWithRightArm;
                
    bool m_use_external_cost;
    double m_external_cost;
                
                unsigned int m_NbDirections;
                
                std::tr1::shared_ptr<Configuration> m_QStored;
                
                GLint m_list;
        };
}


#endif