bordercostmap.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Daniel Heß - initial API and implementation
 ********************************************************************************/
 
#pragma once
 
#include <unordered_map>
#include <adore/env/borderbased/border.h>
#include <adore/env/ego/navigationcost.h>
 
namespace adore
{
    namespace env
    {
        namespace BorderBased
        {
            class BorderCostMap : public std::unordered_map<BorderID, adore::env::NavigationCost, adore::env::BorderBased::BorderIDHasher>
            {
            public:
                typedef std::pair<BorderID, adore::env::NavigationCost> TCostPair;
                bool getRandomBorderIDCostPair(TCostPair &result)
                {
                    if(this->size()==0)
                    {
                        return false;
                    }
                    int r = std::floor(((double)(std::rand())/((double)RAND_MAX)) * ((double)this->size()));                
                    for(auto it = this->begin();it!=this->end();it++)
                    {
                        if(r==0)
                        {
                            result = *it;
                            return true;
                        }
                        r--;
                    }
                    auto it = this->begin();
                    result = *it;
                    return true;
                }
            };
        }
    }
}