src/architecture/planner/auxiliar/treeNode.cpp

        
        
#include "treeNode.h"
#include <stdlib.h>
#include <stdio.h>
#include <assert.h>

treeNode::treeNode(int type, int nrobots):
        parent(0),
        nchildren(0),
        children(0),

        ipoints(0),
        nbots(0),
        value(0.0f),
        nextNodeInPlan(-1),

        node_type(type),

        numrobots(nrobots),
        robots(new bool[nrobots])
{

}

treeNode::~treeNode(){
        for (int n=0; n<nchildren; n++){
                delete children[n];
        }
        if (children)
                free(children);
        delete[] robots;
}

// TODO: CHANGE THIS REALLOC TO A STD::VECTOR WITH INITIAL RESERVATION
void treeNode::addChildren(treeNode& child){

        child.setParent(*this);
        nchildren++;

        children = (treeNode**) realloc(children, nchildren*sizeof(treeNode*));

        children[nchildren-1] = &child;
}

treeNode& treeNode::getChildren(int number) const {
        assert(number < nchildren);
        return *(children[number]);
}

treeNode& treeNode::getParent() const{
        assert(parent);
        return (*parent);
}

void treeNode::clearRobots(){
        for (int i = 0; i< numrobots; i++)
                robots[i] = false;
}

bool treeNode::isRobot(int robot) const {
        if (robot < numrobots)
                return robots[robot];
        else
                return false;
}

void treeNode::setRobot(int robot){
        if (robot < numrobots)
                robots[robot] = true;   
}

bool treeNode::orderByValue(const treeNode* a, const treeNode* b){
        //printf("ordenando por valor %f y %f\n", ((treeNode*)a)->getValue(), ((treeNode*)b)->getValue());
        if (a == b) return false;
        return (((treeNode*)a)->getValue() > ((treeNode*)b)->getValue());
}

bool treeNode::orderByCost(const treeNode* a, const treeNode* b){
        //printf("ordenando por coste %f y %f\n", ((treeNode*)a)->getCost(), ((treeNode*)b)->getCost());
        if (a == b) return false;
        else return (((treeNode*)a)->getCost() > ((treeNode*)b)->getCost());
}