/*****************************************************************/
/*    NAME: Michael Benjamin                                     */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: XYGrid.h                                             */
/*    DATE: Aug 27th 2005                                        */
/*                                                               */
/* This file is part of IvP Helm Core Libs                       */
/*                                                               */
/* IvP Helm Core Libs is free software: you can redistribute it  */
/* and/or modify it under the terms of the Lesser GNU General    */
/* Public License as published by the Free Software Foundation,  */
/* either version 3 of the License, or (at your option) any      */
/* later version.                                                */
/*                                                               */
/* IvP Helm Core Libs is distributed in the hope that it will    */
/* be useful but WITHOUT ANY WARRANTY; without even the implied  */
/* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR       */
/* PURPOSE. See the Lesser GNU General Public License for more   */
/* details.                                                      */
/*                                                               */
/* You should have received a copy of the Lesser GNU General     */
/* Public License along with MOOS-IvP.  If not, see              */
/* <http://www.gnu.org/licenses/>.                               */
/*****************************************************************/

#ifndef XY_GRID_HEADER
#define XY_GRID_HEADER

#include <string>
#include <vector>
#include "XYSquare.h"
#include "XYPolygon.h"

class XYGrid {
public:
  XYGrid();
  virtual ~XYGrid() {}

  bool      initialize(std::string);

  XYSquare  getElement(unsigned int index) const;
  void      setVal(unsigned int index, double val);
  double    getVal(unsigned int index) const;

  XYSquare  getSBound() const  {return(bounding_square);}
  XYPolygon getPBound() const  {return(bounding_poly);}
  double    getMinVal() const  {return(min_val);}
  double    getMaxVal() const  {return(max_val);}
  int       size() const       {return(elements.size());}

  void      setUtil(unsigned int ix, double val);
  void      setUtilRange(double, double);
  double    getUtil(unsigned int ix)  const;

  double    getMinUtil()     const {return(min_util);}
  double    getMaxUtil()     const {return(max_util);}
  double    getMinUtilPoss() const {return(min_util_possible);}
  double    getMaxUtilPoss() const {return(max_util_possible);}
  
  void      handleSegment(double, double, double, double);
  void      resetFromMin();

  bool      ptIntersect(double, double) const;
  bool      ptIntersectBound(double, double) const;
  bool      segIntersectBound(double, double, double, double) const;
  bool      processDelta(const std::string&);

  std::string getConfigString() const {return(config_string);}
  std::string getLabel() const {return(label);}

protected:
  bool     initialize(XYPolygon, const XYSquare&, double);
  bool     initialize(const XYSquare&, const XYSquare&, double);
  void     clear();
    
protected:
  std::vector<XYSquare> elements;
  std::vector<double>   values;
  std::vector<double>   utilities;
  std::string           config_string;
  std::string           label;
  XYSquare              bounding_square;
  XYPolygon             bounding_poly;
  
  double min_val;
  double max_val;

  double min_util;
  double max_util;
  double min_util_possible;
  double max_util_possible;
};
#endif