src/smp/components/collision_checkers/mu_calculus.h

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#ifndef _SMP_COLLISION_CHECKER_MU_CALCULUS_H_
#define _SMP_COLLISION_CHECKER_MU_CALCULUS_H_

#include <smp/components/collision_checkers/base.h>
#include <smp/common/region.h>

#include <list>


namespace smp {


    template< class typeparams, int NUM_DIMENSIONS >
    class collision_checker_mu_calculus : public collision_checker_base<typeparams> {
        
        
        typedef typename typeparams::state state_t;
        typedef typename typeparams::input input_t;
        typedef typename typeparams::vertex_data vertex_data_t;
        typedef typename typeparams::edge_data edge_data_t;

        typedef vertex<typeparams> vertex_t;
        typedef edge<typeparams> edge_t;    
        typedef trajectory<typeparams> trajectory_t;

        typedef region<NUM_DIMENSIONS> region_t;

        int num_discretization_steps;
        double discretization_length;

        // 0: no discretization
        // 1: use steps discretization
        // 2: use length discretization 
        int discretization_method;     

        list< region_t* > list_regions;
        
        // returns the index for the region that the given state lies in
        inline int get_region_index (double state_vars[NUM_DIMENSIONS]);


    public:
        collision_checker_mu_calculus ();
        ~collision_checker_mu_calculus ();


        int cc_update_insert_vertex (vertex_t *vertex_in);
    

        int cc_update_insert_edge (edge_t *edge_in);  


        int cc_update_delete_vertex (vertex_t *vertex_in);
    
    
        int cc_update_delete_edge (edge_t *edge_in);


        int check_collision_state (state_t *state_in);


        int check_collision_trajectory (trajectory_t *trajectory_in);
    

        int set_discretization_steps (int num_discretization_steps_in);


        int set_discretization_length (double discretization_length_in);


        int add_region (region_t &region_in);

    };


}

#endif