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// map_segm.cc
// nono - programme du robot 2004. {{{
//
// Copyright (C) 2004 Nicolas Schodet
//
// Robot APB Team/Efrei 2004.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}
#include "map_segm.h"

#include <algorithm>
#include <assert.h>
#include <algorithm>
#include <iterator>

namespace Path {

/// Constructeur.
MapSegm::MapSegm (int minx, int miny, int maxx, int maxy)
    : minx_ (minx), miny_ (miny), maxx_ (maxx), maxy_ (maxy)
{
    mapLimitsX_.push_back (minx);
    mapLimitsX_.push_back (maxx);
    mapLimitsY_.push_back (miny);
    mapLimitsY_.push_back (maxy);
    mapCells_.push_back (std::vector<int> (1, 0));
}

/// Place un obstacle (mm).
void
MapSegm::putObstacle (int minx, int miny, int maxx, int maxy)
{
    // Clip.
    if (minx < minx_)
	minx = minx_;
    if (miny < miny_)
	miny = miny_;
    if (maxx > maxx_)
	maxx = maxx_;
    if (maxy > maxy_)
	maxy = maxy_;
    // Split.
    int mincol = findCol (minx);
    if (mapLimitsX_[mincol] != minx)
	splitCol (mincol, minx);
    int maxcol = findCol (maxx);
    if (mapLimitsX_[maxcol] != maxx)
	splitCol (maxcol, maxx);
    int minrow = findRow (miny);
    if (mapLimitsY_[minrow] != miny)
	splitRow (minrow, miny);
    int maxrow = findRow (maxy);
    if (mapLimitsY_[maxrow] != maxy)
	splitRow (maxrow, maxy);
    std::cout << "putObs " << mincol << ' ' << maxcol << ' ' << minrow << ' '
	<< maxrow << std::endl;
    // Remplit la zone.
    for (int j = minrow; j < maxrow; ++j)
      {
	MapRow &r = mapCells_[j];
	for (int i = mincol; i < maxcol; ++i)
	  {
	    r[i] = 1;
	  }
      }
}

/// Split la carte � une colonne donn�e.
void
MapSegm::splitCol (int col, int x)
{
    // Met � jour le tableau des abscisse.
    mapLimitsX_.insert (mapLimitsX_.begin () + col, x);
    // Pour chaque ligne.
    MapCells::iterator first = mapCells_.begin ();
    MapCells::iterator last = mapCells_.end ();
    for ( ; first != last; ++first)
      {
	// Split la case.
	(*first).insert ((*first).begin () + col, (*first)[col - 1]);
      }
}

/// Split la carte � une ligne donn�e.
void
MapSegm::splitRow (int row, int y)
{
    // Met � jour le tableau des ordonn�es.
    mapLimitsY_.insert (mapLimitsY_.begin () + row, y);
    // Split la ligne.
    mapCells_.insert (mapCells_.begin () + row, mapCells_[row - 1]);
}

/// Trouve la colonne correspondante � une abscisse (mm).
int
MapSegm::findCol (int x) const
{
    MapLimits::const_iterator it =
	std::lower_bound (mapLimitsX_.begin (), mapLimitsX_.end (), x);
    return it - mapLimitsX_.begin ();
}

/// Trouve la ligne correspondante � une ordonn�e (mm).
int
MapSegm::findRow (int y) const
{
    MapLimits::const_iterator it =
	std::lower_bound (mapLimitsY_.begin (), mapLimitsY_.end (), y);
    return it - mapLimitsY_.begin ();
}

/// Sort sur std::ostream.
std::ostream &
operator<< (std::ostream &os, const MapSegm &m)
{
    using namespace std;
    os << "limit x: ";
    copy (m.mapLimitsX_.begin (), m.mapLimitsX_.end (),
	  ostream_iterator<int> (os, " "));
    os << endl;
    os << "limit y: ";
    copy (m.mapLimitsY_.begin (), m.mapLimitsY_.end (),
	  ostream_iterator<int> (os, " "));
    os << endl;
    os << "map:" << endl;
    MapSegm::MapCells::const_iterator first = m.mapCells_.begin ();
    MapSegm::MapCells::const_iterator last = m.mapCells_.end ();
    for ( ; first != last; ++first)
      {
	copy ((*first).begin (), (*first).end (),
	      ostream_iterator<int> (os, " "));
	os << endl;
      }
    return os << endl;
}

} // namespace Path