graph.cpp

////////////////////////////////////////////////////////////////////////////////
// Copyright (c) 2019, Vinitha Ranganeni
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//     1. Redistributions of source code must retain the above copyright notice
//        this list of conditions and the following disclaimer.
//     2. Redistributions in binary form must reproduce the above copyright
//        notice, this list of conditions and the following disclaimer in the
//        documentation and/or other materials provided with the distribution.
//     3. Neither the name of the copyright holder nor the names of its
//        contributors may be used to endorse or promote products derived from
//        this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// POSSIBILITY OF SUCH DAMAGE.
////////////////////////////////////////////////////////////////////////////////

#include "graph.h"
#include <assert.h>
#include <cmath>

namespace grid_planner {
namespace graphs {

int Graph::set_start_state(const int& x, const int& y)
{
    // YOUR CODE HERE
    return -1;
}

int Graph::set_goal_state(const int& x, const int& y)
{
    // YOUR CODE HERE
    return -1;
}

void Graph::get_succs(
    const int& source_state_id,
    std::vector<int> *succ_ids,
    std::vector<double> *costs) const
{
    assert(source_state_id < m_occupancy_grid.size());

    // YOUR CODE HERE
}

void Graph::get_path_coordinates(
    const std::vector<int>& path_state_ids,
    std::vector<std::pair<int, int> > *path_coordinates) const
{
    // YOUR CODE HERE
}

int Graph::get_state_id(const int& x, const int& y) const
{
    assert(x < m_width);
    assert(y < m_height);

    // YOUR CODE HERE
    return 0;
}

bool Graph::get_coord_from_state_id(const int& state_id, int* x, int* y) const
{
    assert(state_id < m_occupancy_grid.size());

    // YOUR CODE HERE
    return true;
}

bool Graph::is_valid_state(const int& x, const int& y) const
{
    // YOUR CODE HERE
    return true;
}

double Graph::get_action_cost(
        const int& source_x,
        const int& source_y,
        const int& succ_x,
        const int& succ_y) const
{
    // YOUR CODE HERE
    return 0;
}

}  // namespace graphs
}  // namespace grid_planner