//---------------------------------------------------------------------------
//  Copyright (c) Jim Wright 2004
//
//  JimMarkovRobot.h
//  This is the working class of this application.
//  This is the class where I'm learning about Markov Chains
//
//---------------------------------------------------------------------------

#pragma once
#include "stdafx.h"
#include "jimpoint.h"
#include "jimline.h"
#include "jimpage.h"

typedef map<int, double> SensorDataMap;
typedef SensorDataMap::iterator SDMIter;
typedef vector<SensorDataMap> SensorDataMapVector;
typedef vector<CJimLine*> WallVector;


class CJimMarkovRobot :  public CJimPage
{
private:
  CJimPoint  m_location;
  double     m_theta;
  WallVector m_walls;
  SensorDataMap m_walldata;
  CJimPage   m_PercentPage;
  SensorDataMapVector m_sensorProb;

public:
  CJimMarkovRobot(void);
  ~CJimMarkovRobot(void);
  CJimMarkovRobot(int locx,int locy,int width, int height);
  void AddWall(CJimLine* Wall);
  void RunWallData(void);
  void DrawPage(CDC* hDC);
  void SetLocation(CJimPoint loc);
  void ShowWallData(CDC* hDC);
  void SetTheta(CDC* hDC, double theta);
  double GetSensorData(double angle);
  double GetTheta(void);
  void RunMarkovSensor(CDC* hDC,double sesnorreading,COLORREF color);
  void RunMarkovEncoder(CDC* hDC,double encoderReading,COLORREF color);
};