TopoMap.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/Node.h>
#include <topomap/GatewayNode.h>
#include <topomap/Link.h>

namespace viros { namespace topomap {


class TopoMap
{
public:
    TopoMap();

    static TopoMapPtr create() {
        return boost::make_shared<TopoMap>();
    }

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Root", mRoot, "Root node of the map");
    }

public:

    void clear();


    NodePtr getRoot() { return mRoot; }

    template <typename Visitor>
    void visitNodes(Visitor&& visitor)
    {
        mRoot->visitChildNodes(visitor, true);
    }

public:

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


public:

    static NodePtr lowestCommonAncestor(NodePtr m, NodePtr n);

public:

    NodePtr createNode(NodePtr parent = NodePtr());
    GatewayNodePtr createGatewayNode(NodePtr node);
    LinkPtr createLink(GatewayNodePtr from, GatewayNodePtr to, bool bidirektional=true, double costs=0.0);

public:

    void dumpGraphviz(std::ostream& os, bool hideIntraLinks=false);

private:
    NodePtr mRoot;
    std::map<GraphElementPtr,std::string> mNames;
};



} } // namespace