""" This is the definition file for mcp.pyx.
It contains the definitions of the mcp class, such that
other cython modules can "cimport mcp" and subclass it.
"""

cimport heap
cimport numpy as cnp

ctypedef heap.BOOL_T BOOL_T
ctypedef unsigned char DIM_T
ctypedef cnp.float64_t FLOAT_T
ctypedef cnp.intp_t INDEX_T
ctypedef cnp.int8_t EDGE_T
ctypedef cnp.int8_t OFFSET_T
ctypedef cnp.int16_t OFFSETS_INDEX_T


cdef class MCP:
    cdef heap.FastUpdateBinaryHeap costs_heap
    cdef object costs_shape
    cdef object _starts
    cdef object _ends
    cdef DIM_T dim
    cdef BOOL_T dirty
    cdef BOOL_T use_start_cost
    # if use_start_cost is true, the cost of the starting element is added to
    # the cost of the path. Set to true by default in the base class...
    
    # Arrays used during front propagation
    cdef FLOAT_T [:] flat_costs
    cdef FLOAT_T [:] flat_cumulative_costs
    cdef OFFSETS_INDEX_T [:] traceback_offsets
    cdef EDGE_T [:,:] flat_pos_edge_map
    cdef EDGE_T [:,:] flat_neg_edge_map
    cdef OFFSET_T [:,:] offsets
    cdef INDEX_T [:] flat_offsets
    cdef FLOAT_T [:] offset_lengths
    
    # Methods
    cpdef int goal_reached(self, INDEX_T index, FLOAT_T cumcost)
    cdef FLOAT_T _travel_cost(self, FLOAT_T old_cost, FLOAT_T new_cost, FLOAT_T offset_length)
    cdef void _examine_neighbor(self, INDEX_T index, INDEX_T new_index, FLOAT_T offset_length)
    cdef void _update_node(self, INDEX_T index, INDEX_T new_index, FLOAT_T offset_length)