ids.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef POSE_GRAPH_IDS_H
#define POSE_GRAPH_IDS_H

#include <iostream>

namespace pose_graph
{


class Id
{
public:
  
  explicit Id (unsigned long int id) : id_(id) {}

  Id () : id_(-1) {}

  friend std::ostream& operator<< (std::ostream& str, const Id& n)
  {
    str << n.id_;
    return str;
  }

  bool operator== (const Id& other) const
  {
    return other.id_ == id_;
  }

  bool operator!= (const Id& other) const
  {
    return other.id_ != id_;
  }

  bool operator< (const Id& other) const
  {
    return id_ < other.id_;
  }

  unsigned long int getId () const
  {
    return id_;
  }

  void operator++ (int unused)
  {
    id_++;
  }

  Id& operator= (const Id& other)
  {
    id_ = other.id_;
    return *this;
  }

private:
  unsigned long int id_;
  
};


class NodeId : public Id
{
public:

  explicit NodeId (unsigned long int id = -1) : Id(id) {}
};


class EdgeId : public Id
{
public:

  explicit EdgeId (unsigned long int id = -1) : Id(id) {}
};


} // namespace pose_graph

#endif // include guard