ThetaStar.h

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#include <list>
#include <unordered_map>
#include <iostream>

#include "PathPlanner.h"
#include "Geom.h"
#include "LineOfSight.h"

#ifndef ORCA_THETASTAR_H
#define ORCA_THETASTAR_H

class ThetaStar : public PathPlanner
{
    public:

        ThetaStar(const Map &map, const EnvironmentOptions &options, const Point &start, const Point &goal, const float &radius);

        ThetaStar(const ThetaStar &obj);

        ~ThetaStar() override;

        bool GetNext(const Point &curr, Point &next) override;

        bool CreateGlobalPath() override;

        ThetaStar* Clone() const override;

        ThetaStar & operator = (const ThetaStar &obj);

    private:

        bool SearchPath(const Node &start, const Node &goal);
        bool StopCriterion() const;
        void AddOpen(Node newNode);
        Node FindMin();
        float ComputeHFromCellToCell(int i1, int j1, int i2, int j2) const;
        float Distance(int i1, int j1, int i2, int j2) const;
        Node ResetParent(Node current, Node parent);
        void MakePrimaryPath(Node curNode);
        std::list<Node> FindSuccessors(Node curNode);


        std::list<Point> currPath;

        std::unordered_map<int, Node>   close;
        std::vector<std::list<Node>>    open;
        int                             openSize;
        bool                            glPathCreated;
        LineOfSight                     visChecker;




};


#endif //ORCA_THETASTAR_H