map.h

#ifndef MAP_H
#define	MAP_H
#include <iostream>
#include "gl_const.h"
#include <sstream>
#include <string>
#include <algorithm>
#include "tinyxml2.h"


//That's the class that stores BOTH grid map data AND start-goal locations.
//getValue reads the input XML and fills the Map object.
//Some naive checks are already included in getValue but still on some corrupted XMLs it may fail,
//so be sure to invoke it passing the correct XML (e.g. with correctly filled map tag, e.g. <map>.

//Map is NOT to be modified during the search. It should be passed as a const pointer.
//Think of it as an "independent" piece of data that is managed by outer (non-search related) proccesses.
//Search algorithm should create it own object/structures needed to run the search on that map.

class Map
{
    protected:
        int     height, width;
        int     start_i, start_j;
        int     goal_i, goal_j;
        double  cellSize;
        int**   Grid;

    public:
         Map();
         Map(const Map& orig);
         virtual ~Map();

        virtual bool getMap(const char *FileName);
        bool CellIsTraversable (int i, int j) const;
        bool CellOnGrid (int i, int j) const;
        virtual bool CellIsObstacle(int i, int j) const;
        virtual int  getValue(int i, int j) const;
        int getMapHeight() const;
        int getMapWidth() const;
        double getCellSize() const;
        int getStartI() const;
        int getStartJ() const;
        int getFinishI() const;
        int getFinishJ() const;

};

#endif