poly_path.h

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#ifndef POLY_PATH_H
#define POLY_PATH_H

#include <fs_path.h>
#include <grid.h>
#include <graph_m4ri.h>
#include <triangulation.h>
#include <utility>

namespace frechet { namespace poly {

using namespace reach;

class PolygonFSPath : public FSPath
{
private:
    GraphModel::ptr gmodel;
public:
    PolygonFSPath(FreeSpace::ptr fs);

    void update(
            const Graph::ptr result,
            double epsilon);

    Curve findShortestPathP(int qa, int qb, Triangulation& tri);
    Curve findShortestPathQ(int pa, int pb, Triangulation& tri);

private:

    void addFixPoint(int pi, int qi);
    void addFixPoint(Point p);
    void drillDown(Graph::ptr res);
    void drillDown(Graph::ptr M, int k1, int k2);

    typedef std::pair<int, int> IndexPair;
    IndexPair findSolutionConnectingPoints(Graph::ptr A, int i, Graph::ptr B) const;
    int findConnectingPoint(Graph::ptr A, int ia,
                            Graph::ptr B, int ib) const;
    Interval mapInterval(Orientation o, int p) const;
    double mapPoint(Orientation o, int p) const;

    static bool is_consistent(Curve fix);
};

} }     //  namespace frechet::poly

#endif // POLY_PATH_H