#ifndef WALKMODULE_H
#define WALKMODULE_H

#include "../../../Grid.h"

/** base-class for all WalkStates */
struct WalkState {

	/** current position within the grid (-> in cm!) */
	GridPoint position;

	/** ctor */
	explicit WalkState(const GridPoint& position) : position(position) {;}

};


/**
 * base-class for all walk-modules that influence p(e)
 */
template <typename Node, typename WalkState> class WalkModule {

public:

	/** update the given WalkState before starting the walk. e.g. based on sensor readings */
	virtual void updateBefore(WalkState& state) = 0;

	/** get the probability p(e) from curNode to potentialNode */
	virtual double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const = 0;

	/** one step (edge) is taken */
	virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) = 0;

	/** update the walk state based on the given transition (if any update is necssary) */
	virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) = 0;

};

#endif // WALKMODULE_H