spatial_to_lane_map.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda

#ifndef CAJUN_SPATIAL_TO_LANE_MAP_H
#define CAJUN_SPATIAL_TO_LANE_MAP_H

#include "lane_grid.H"
//#include "rect_filler.H"
#include "data_type.H"
#include "rndf.H"

namespace cajun
{
class spatial_to_lane_map_t
{
        lane_grid_t m_lane_grid;
        rndf_t const *m_rndf;
        double m_cell_size;

public:
        spatial_to_lane_map_t (rndf_t const *rndf_, double cell_size_):
                m_rndf (rndf_), m_cell_size (cell_size_)//,
        {
        }

        void update_spatial_map (std::vector<rndf_lane_data_t> &rndf_list_);

        bool neighboring_lanes (std::vector<rndf_t::lane_seg_t> &lanes_seg,
                                double x_, double y_, double rad_);


        bool near_any_lane (double x_, double y_, double rad_);


        //following 4 functions are for printing grid for debugging
        void init () { printf ("SLM: init()\n");}

        void init_tile (unsigned x, unsigned y)
                { printf ("SLM: init_tile %d %d\n", x, y);}

        void fini_tile () { printf ("SLM: fini\n");};

        void visit (unsigned x_, unsigned y_,
                    lane_grid_t::iterator_t &iter_);
private:
        void update_by_rndf_lane (rndf_lane_data_t &l_data_);

        bool wp_id_exist (lane_grid_t::iterator_t &iter_,
                          rndf_t::waypoint_id_t const &wp_id_1_,
                          rndf_t::waypoint_id_t const &wp_id_2_);

        void add_wp_ids (lane_grid_t::iterator_t &iter_,
                         rndf_t::waypoint_id_t const &wp_id_1_,
                         rndf_t::waypoint_id_t const &wp_id_2_);

        void print_grid ();

        void print_lane_list (
                std::vector<rndf_t::lane_seg_t> const &lane_list_);

        void get_lanes_from_cell (lane_grid_t::iterator_t &iter,
                                  std::vector<rndf_t::lane_seg_t> &lane_seg);

        bool lane_seg_in_list (
                std::vector<rndf_t::lane_seg_t> const &lane_list_,
                rndf_t::lane_seg_t const &lane_seg_);
};
};


#endif

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