Node.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 <serialization/adapters/std/set>
#include <serialization/adapters/boost/shared_ptr.hpp>

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

namespace viros { namespace topomap {


class Node : public AttributedGraphElement, public boost::enable_shared_from_this<Node>
{

public:
    friend class TopoMap;

    Node();
    ~Node();

    static NodePtr create() {
        return boost::make_shared<Node>();
    }

    NodePtr thisP() {
        return shared_from_this();
    }

public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        AttributedGraphElement::reflect(r);
        r.member("Children", mChildren, "");
        r.member("Parent", mParent, "");
        r.member("GatewayNodes", mGatewayNodes, "");
    }

public:

    NodePtr getParent() { return mParent; }
    const NodePtr getParent() const { return mParent; }

    bool isLeaf() const { return mChildren.empty(); }

    const std::string getFullName() const;


public:

    virtual GraphElementPtr findElement(const std::string& predicate);


public:

    virtual AttributePtr getAttributeUntyped(const std::string& name, const mira::Class& clazz, bool inherited=true);
    virtual void getAllAttributesUntyped(std::map<std::string, AttributePtr>& oAttributes, const mira::Class& clazz, bool inherited=true);


public:

    const NodeSet& getChildNodes() { return mChildren; }
    const GatewayNodeSet& getGatewayNodes() { return mGatewayNodes; }

public:

    template <typename Visitor>
    void visitChildNodes(Visitor&& visitor, bool recursively=true)
    {
        foreach(auto n, mChildren)
        {
            visitor(n);
            if(recursively)
                n->visitChildNodes(visitor,recursively);
        }
    }

protected:

    void addChildNode(NodePtr node);
    void addGatewayNode(GatewayNodePtr gatewayNode);

private:

    NodeSet mChildren;
    NodePtr mParent;

    GatewayNodeSet mGatewayNodes;
};

std::ostream& operator<<(std::ostream& os, const Node& node);


}} // namespace