state-selector.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// DAMAGE.
 
#ifndef HPP_MANIPULATION_GRAPH_STATE_SELECTOR_HH
#define HPP_MANIPULATION_GRAPH_STATE_SELECTOR_HH
 
#include "hpp/manipulation/config.hh"
#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/graph.hh"
#include "hpp/manipulation/graph/state.hh"
 
namespace hpp {
namespace manipulation {
namespace graph {
class HPP_MANIPULATION_DLLAPI StateSelector {
 public:
  virtual ~StateSelector() {};
 
  static StateSelectorPtr_t create(const std::string& name);
 
  const std::string& name() const { return name_; }
 
  StatePtr_t createState(const std::string& name, bool waypoint = false,
                         const int w = 0);
 
  StatePtr_t getState(ConfigurationIn_t config) const;
 
  StatePtr_t getState(RoadmapNodePtr_t node) const;
 
  States_t getStates() const;
 
  States_t getWaypointStates() const;
 
  virtual EdgePtr_t chooseEdge(RoadmapNodePtr_t from) const;
 
  virtual std::ostream& dotPrint(
      std::ostream& os,
      dot::DrawingAttributes da = dot::DrawingAttributes()) const;
 
  void parentGraph(const GraphWkPtr_t& parent);
 
  GraphPtr_t parentGraph() const;
 
 protected:
  void init(const StateSelectorPtr_t& weak);
 
  StateSelector(const std::string& name) : name_(name) {}
 
  virtual std::ostream& print(std::ostream& os) const;
 
  typedef std::pair<int, StatePtr_t> WeighedState_t;
  typedef std::list<WeighedState_t> WeighedStates_t;
  WeighedStates_t orderedStates_;
  States_t waypoints_;
 
 private:
  std::string name_;
  GraphWkPtr_t graph_;
  StateSelectorPtr_t wkPtr_;
 
  friend std::ostream& operator<<(std::ostream& os, const StateSelector& ss);
};  // Class StateSelector
 
inline std::ostream& operator<<(std::ostream& os, const StateSelector& ss) {
  return ss.print(os);
}
}  // namespace graph
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_GRAPH_STATE_SELECTOR_HH