structs.h

#ifndef STRUCTS_H
#define STRUCTS_H
#include <memory>
#include "gl_const.h"
#include <list>
struct conflict
{
    int agent1;
    int agent2;
    int sec1;
    int sec2;
    double i;
    double j;
    double g;
};

struct constraint
{
    double i;
    double j;
    double g;
    bool goal;
    int agent;
};

struct movement
{
    double g;
    int p_dir;
    int s_dir;
};

struct Node
{
    int i, j;
    bool expanded;
    int  consistent;
    double F, g, h;
    const Node* Parent;
    double interval_end;
    double interval_begin;
    const Node* best_Parent;
    double best_g;
    double delta;
    std::list<std::pair<const Node*, double>> parents;
    std::pair<double,double> interval;
    Node(int i=-1, int j=-1, double F=-1, double g=-1, double h=-1, bool expanded=false, double interval_begin=-1, double interval_end=-1, int consistent = 0)
        :i(i),j(j),F(F),g(g),h(h),interval_begin(interval_begin),interval_end(interval_end),expanded(expanded),Parent(nullptr),consistent(consistent)
    {best_Parent = nullptr; best_g = CN_INFINITY; parents.clear();delta = interval_begin - g;}
    ~Node(){Parent = nullptr; best_Parent = nullptr;parents.clear();}
};

struct section
{
    int i1;
    int i2;
    int j1;
    int j2;
    double g1;
    double g2;//is needed for goal and wait actions
    int agent;

    bool operator== (const section &comp)   const{return (i1==comp.i1 && j1==comp.j1 && g1==comp.g1);}
    section(int i1=-1, int j1=-1, int g1=-1, int i2=-1, int j2=-1, int g2=-1):i1(i1),j1(j1),g1(g1),i2(i2),j2(j2),g2(g2){}
    section(const Node &a, const Node &b)
    {
        i1 = a.i;  j1 = a.j;  g1 = a.g;
        i2 = b.i;  j2 = b.j;  g2 = b.g;
    }
};

class Point {
public:
    double i;
    double j;

    Point(double _i = 0.0, double _j =0.0):i (_i), j (_j){}
    //Point(std::pair<double, double> p){i=p.first; j=p.second;}
    Point operator-(Point& p){return Point(i - p.i, j - p.j);}
    int operator== (Point& p){return (i == p.i) && (j == p.j);}
    int classify(Point&pO, Point&p1)
    {
        Point p2 = *this;
        Point a = p1 - pO;
        Point b = p2 - pO;
        double sa = a.i * b.j - b.i * a.j;
        if ((a.i * b.i < 0.0) || (a.j * b.j < 0.0))
            return 3;//BEHIND;
        if ((a.i*a.i + a.j*a.j) < (b.i*b.i + b.j*b.j))
            return 4;//BEYOND;
        if (sa > 0.0)
            return 1;//LEFT;
        if (sa < 0.0)
            return 2;//RIGHT;
        if (pO == p2)
            return 5;//ORIGIN;
        if (p1 == p2)
            return 6;//DESTINATION;
        return 7;//BETWEEN;
    }
};
#endif