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Path.H

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#ifndef PATH_H
#define PATH_H

// Gluebase includes
#define OUTSIDE_GLUE_CORE
#include <mlib/points.H>
#include <std/hash.H>
#include <std/strings.H>

class Interpolator;

class Path
{
public:
  Path();
  virtual ~Path();  

  virtual void addPoint(const Wtransf& trans,const double cumulLength=-1);
  virtual void setPoint(const int pt,const Wtransf trans,const Wtransf roomtrans);

  virtual double getLength() const;
  virtual int getNumPoints() const;

  virtual Wtransf& getTransAbsolute(const int num);
  
  //dist[0,length)
  virtual Wtransf getTrans(const double dist);
  //dist [0,1)
  virtual Wtransf getTransRelative(const double dist);

  //returns length at an int (transform)
  virtual double getLengthAt(const int num);

  //length [0,length)
  virtual int getIndex(double length);

  //methods to determine distance from the Path, and closest point on the Path
  //assume the point is in the same coordinate frame as the Path
  virtual Wvec distanceFrom(const Wpt pt);
  virtual Wtransf closestPoint(const Wpt pt);
  virtual double getPercentAt(const Wpt pt);

  //methods to determine the closest pt on path given a ray
  virtual double getPercentAt(const Wpt pt, const Wvec vec);

  //result is parameter path-this
  virtual Path* difference(Path* path,int numsteps=400);

  virtual Path* sum(Path* path, int numsteps=400);
  virtual Path* lengthSum(Path* path);

  //returns path from startDist of length length
  virtual Path* getSubPath(double startDist,double length);

  virtual void leftmodify(const Wtransf trans);
  virtual void rightmodify(const Wtransf trans);

  virtual Path* getSuffixAbsolute(const int trans);
  //dist[0,length)
  virtual Path* getSuffix(const double dist);
  //dist[0,1)
  virtual Path* getSuffixRelative(const double dist);

  virtual ARRAY<Path*> getPathsOfLength(double length, int skipval);


  virtual bool isEqual(Path* path);

  virtual bool isSignificantlyDifferent(Path* path, double threshold);

  virtual void setReferenceLength(const double l){_referenceLength=l;};
  virtual double getReferenceLength() const{return _referenceLength;};

  virtual void recalcLength();
  virtual Path* getCopy();
  virtual void print();

  virtual void setChanged(bool c){_changed=c;};
  virtual bool getChanged(){return _changed;};

  virtual ARRAY<Wtransf>& getPts(){return _pts;};
  virtual ARRAY<double>& getCumulativeLength(){return _cumulativeLength;};
 

protected:
  virtual void updateLength();

  //distance between segment L1 and line L2
  virtual float dist3D_Line_to_Line(Wpt L1a,Wpt L1b,Wpt L2a,Wvec L2v,double& L1t);

  ARRAY<Wtransf> _pts;
  //I don't really know why we are keeping track of this, but its there
  //ARRAY<Wtransf> _roomPts;

  ARRAY<double>  _cumulativeLength;
  double _length;

  double _referenceLength;

  Interpolator* _interp;
  
  //hack for interpolator to indicate whether a path has changed
  bool _changed;
  
  Wtransf temptrans;
};

//saving/loading operators
ostream & operator <<(ostream &os, Path &p);
Path* readPath(istream *ifs);

#endif

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