Link.h

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/*
Copyright (c) 2013,
    Neuroinformatics and Cognitive Robotics Labs at TU Ilmenau, Germany

All rights reserved.

Copying, resale, or redistribution, with or without modification, is strictly
prohibited.

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 OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES,
EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#pragma once

#include <topomap/TopoMapFwd.h>
#include <topomap/GraphElement.h>

namespace viros { namespace topomap {


class Link : public GraphElement
{
public:

    enum Type
    {
        INTERLINK = 0,
        INTRALINK,
        UPLINK,
        SHALLOWLINK
    };

protected:
    friend class TopoMap;

public:
    Link();
    Link(Type type, GatewayNodePtr from, GatewayNodePtr to, bool bidirectional = true,  double costs = 0.0);

    static LinkPtr create() {
        return boost::make_shared<Link>();
    }

    static LinkPtr create(Type type, GatewayNodePtr from, GatewayNodePtr to, bool bidirectional = true,  double costs = 0.0) {
        return boost::make_shared<Link>(type, from, to, bidirectional, costs);
    }

public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Type", mType, "");
        r.member("From", mFrom, "");
        r.member("To", mTo, "");
        r.member("Bidirectional", bidirectional, "");
        r.member("Costs", costs, "");
    }


    GatewayNodePtr from() const { return mFrom; }
    GatewayNodePtr to() const { return mTo; }


    bool isBidirectional() const { return bidirectional; }

    Type type() const { return mType; }

public:

    bool bidirectional;
    double costs;

private:

    Type mType;
    GatewayNodePtr mFrom;
    GatewayNodePtr mTo;
};

std::ostream& operator<<(std::ostream& os, const Link& link);


} } // namespace