package cz.cuni.amis.pogamut.ut2004.agent.navigation.astar;
   
   import java.util.Set;
   
   import cz.cuni.amis.pathfinding.alg.astar.AStar;
   import cz.cuni.amis.pathfinding.alg.floydwarshall.FloydWarshall;
   import cz.cuni.amis.pathfinding.map.IPFGoal;
   import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
   import cz.cuni.amis.utils.heap.IHeap;
  
  /**
   * Use amis-path-finding library instead, see {@link AStar} or {@link FloydWarshall}.
   * <p><p>
   * Uses standard 3D-Euclidian distance between {@link NavPoint}s as the heuristic.
   * 
   * @author Jimmy
   */
  public abstract class UT2004PFTask implements IPFGoal<NavPoint> {
  
  	private IHeap<NavPoint> openList;
  	private Set<NavPoint> closedList;
  	private NavPoint startNode;
  	
  	public UT2004PFTask(NavPoint startNode) {
  		this.startNode = startNode;
  	}
  
  	@Override
  	public void setOpenList(IHeap<NavPoint> openList) {
  		this.openList = openList;
  	}
  
  	@Override
  	public void setCloseList(Set<NavPoint> closedList) {
  		this.closedList = closedList;
  	}
  		
  	/**
  	 * The open list of the path-finding algorithm. 
  	 * <p><p>
  	 * IMMUTABLE! DON'T CHANGE IT!
  	 * 
  	 * @param openList
  	 */
  	public IHeap<NavPoint> getOpenList() {
  		return openList;
  	}
  	
  	/**
  	 * The closed list of the path-finding algorithm. 
  	 * <p><p>
  	 * IMMUTABLE! DON'T CHANGE IT!
  	 */
  	public Set<NavPoint> getClosedList() {
  		return closedList;
  	}
  
  	@Override
  	public NavPoint getStart() {
  		return startNode;
  	}
  	
  	@Override
  	public abstract boolean isGoalReached(NavPoint actualNode);
  	
  	@Override
  	public int getEstimatedCostToGoal(NavPoint node) {
  		if (node == null) return Integer.MAX_VALUE;
  		return (int)Math.round(startNode.getLocation().getDistance(node.getLocation()));
  	}
  	
  }