include/architecture/reactive/localPotentialField.h

#ifndef __LOCAL_POTENTIAL_FIELD__
#define __LOCAL_POTENTIAL_FIELD__

#include "matFuns.h"

/**
* @brief Local Potential Fields for reactive navigation
* 
*/

class localPotentialField{

private:

        int width;
        int height;

        matrix m;

public:

        localPotentialField();
        localPotentialField(int width, int height);
        localPotentialField(const localPotentialField &lff);
        virtual ~localPotentialField();

        localPotentialField& operator=(const localPotentialField&);
        localPotentialField operator*(const float&);
        localPotentialField operator+(const localPotentialField&);
        localPotentialField& operator+=(const localPotentialField&);
        localPotentialField& operator*=(const float&);

        void set(int i, int j, float val);
        float get(int i, int j);

        int getWidth();
        int getHeight();

        void reset();

        /// Save function
        void savePotentialAsImage(char* file);
        void normalize();

};

inline float localPotentialField::get(int i, int j)                             {return (i>=0 && i<width && j>=0 && j<height)? m.get(i,j) : 0.0f;}
inline void localPotentialField::set(int i, int j, float val)   {if(i>=0 && i<width && j>=0 && j<height) m.set(i,j,val);}
inline int localPotentialField::getWidth()                                              {return width;}
inline int localPotentialField::getHeight()                                             {return height;}

#endif