Map.h

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#include <string>
#include <vector>

#include "Geom.h"


#ifndef ORCA_MAP_H
#define ORCA_MAP_H


class Map
{
    public:
        Map();

        Map(float cellSize, std::vector<std::vector<int>> &grid, std::vector<std::vector<Point>> &obstacles);

        Map(const Map &obj);

        ~Map();

        bool CellIsObstacle(int i, int j) const;

        bool CellOnGrid(int i, int j) const;

        bool CellIsTraversable(int i, int j) const;

        unsigned int GetHeight() const;

        unsigned int GetWidth() const;

        float GetCellSize() const;

        const std::vector<std::vector<ObstacleSegment>>& GetObstacles() const;

        Node GetClosestNode(const Point &point) const;

        Point GetPoint(const Node &node) const;

        Map & operator = (const Map &obj);

    private:
        float cellSize;
        unsigned int height;
        unsigned int width;
        std::vector<std::vector<int>> *grid;
        std::vector<std::vector<ObstacleSegment>> *obstacles;
};


#endif //ORCA_MAP_H