State.hpp

/*
 *
 * State.h
 *
 * This is the header file of a pure virtual base class for the 
 * state class that will be written by the
 * programmer for his/her own purpose
 * */

#ifndef STATE_H
#define STATE_H

#include <vector>

namespace API
{
  class State
  {
  public:
    State();
    double computeCost(State *parent, State* goal); /* f (f=g+h) */
    
    double f() const;                           /* get functions for the variables */
    double g() const;
    double h() const;
    
    // Test that the state is valid
    virtual bool isValid() { return true; }
    
    /* states after branching is returned and the number of
     non-NULL states in the returned array is saved in the variable nodes_n */
    virtual std::vector<State*> getSuccessors(State* s);
    virtual bool isLeaf();              /* leaf control for an admissible heuristic function; the test of h==0*/
    virtual bool equal(State* other);
    
    virtual void setClosed(std::vector<State*>& closedStates,std::vector<State*>& openStates);
    virtual bool isColsed(std::vector<State*>& closedStates);
    
    virtual void setOpen(std::vector<State*>& openStates);
    virtual bool isOpen(std::vector<State*>& openStates);
    
    virtual void reset() {}
    
    virtual void print() {}
    
  protected:
    virtual double computeLength(State *parent);       /* g */
    virtual double computeHeuristic(State *parent,State* goal);    /* h */
    
  private:
    /* f, g, h values */
    double _f,_g,_h;
  };
}

#endif