fmcell.h

#ifndef FMCELL_H_
#define FMCELL_H_

#include <iostream>
#include <string>
#include <limits>

#include <fast_methods/ndgridmap/cell.h>

enum class FMState {OPEN, NARROW, FROZEN};

class FMCell : public Cell{
    friend std::ostream& operator << (std::ostream & os, const FMCell & c);

    public:
        FMCell() : Cell(std::numeric_limits<double>::infinity(), 1), state_(FMState::OPEN), bucket_(0), hValue_(0) {}

        virtual ~FMCell() {}

        virtual inline void setVelocity(double v)           {occupancy_ = v;}
        virtual inline void setArrivalTime(double at)       {value_= at;}
        virtual inline void setHeuristicTime(double hv)     {hValue_ = hv;}
        virtual inline void setState(FMState state)         {state_ = state;}
        virtual inline void setBucket(int b)                {bucket_ = b;}
        
        virtual void setDefault();

        std::string type() {return std::string("FMCell - Fast Marching cell");}

        virtual inline double getArrivalTime() const              {return value_;}
        virtual inline double getHeuristicValue() const           {return hValue_;}
        virtual inline double getTotalValue() const               {return value_ + hValue_;}
        virtual inline double getVelocity() const                 {return occupancy_;}
        virtual inline FMState getState() const                   {return state_;}
        virtual inline int getBucket() const                      {return bucket_;}

    protected:
        FMState state_;

        int bucket_;

        double hValue_;
};

#endif /* FMCELL_H_*/