SignField.hpp

/*
 *  SignField.h
 *  BioMove3D
 *
 *  Created by Jim Mainprice on 23/06/10.
 *  Copyright 2010 LAAS/CNRS. All rights reserved.
 *
 */

class SignFeildCell;

class SignFeildGrid : 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 drawSpheres();
        void draw();
        void resetCellCost();
        
        void setRobot(Robot* rob) { _Robot = rob; }
        Robot* getRobot() { return _Robot; }
        
        bool isVirtualObjectPathValid(Cell* fromCell,Cell* toCell);
        
private:
        
        Robot* _Robot;
};