.. _program_listing_file__tmp_ws_src_rmf_traffic_editor_rmf_traffic_editor_include_traffic_editor_crowd_sim_transition.h:

Program Listing for File transition.h
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_editor_rmf_traffic_editor_include_traffic_editor_crowd_sim_transition.h>` (``/tmp/ws/src/rmf_traffic_editor/rmf_traffic_editor/include/traffic_editor/crowd_sim/transition.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2020 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef CROWD_SIM_TRANSITION__H
   #define CROWD_SIM_TRANSITION__H
   
   #include <iostream>
   #include <string>
   #include <set>
   #include <memory>
   
   #include <yaml-cpp/yaml.h>
   
   #include <traffic_editor/crowd_sim/condition.h>
   
   namespace crowd_sim {
   
   class Transition
   {
   public:
     using StateName = std::string;
     //store the to_state_name and relevant weight
     using ToStateType = std::map<StateName, double>;
   
     Transition(StateName from_state_name)
     : _from_state_name(from_state_name),
       _to_state_name({}),
       _condition(std::make_shared<Condition>())
     {}
   
     Transition(const YAML::Node& input)
     : _from_state_name("N.A."),
       _to_state_name({}),
       _condition(std::make_shared<Condition>())
     {
       from_yaml(input);
     }
     ~Transition() {}
   
     void set_from_state(StateName state_name)
     {
       this->_from_state_name = state_name;
     }
     std::string get_from_state() const { return this->_from_state_name; }
   
     void add_to_state(StateName state_name, double weight = 1.0)
     {
       this->_to_state_name.insert(std::make_pair(state_name, weight) );
     }
     void delete_to_state(StateName state_name)
     {
       this->_to_state_name.erase(state_name);
     }
     ToStateType get_to_state() const
     {
       return this->_to_state_name;
     }
     void clear_to_state()
     {
       this->_to_state_name.clear();
     }
   
     void set_condition(ConditionPtr condition) { this->_condition = condition; }
     ConditionPtr get_condition() const { return _condition; }
   
     bool is_valid()
     {
       if (_condition->is_valid() &&
         _to_state_name.size() > 0 &&
         _from_state_name.size() > 0)
         return true;
       std::cout << "Invalid transition" << std::endl;
       return false;
     }
   
     YAML::Node to_yaml() const;
     void from_yaml(const YAML::Node& input);
   
   private:
     StateName _from_state_name;
     ToStateType _to_state_name;
     ConditionPtr _condition;
   };
   
   } //namespace crowd_sim
   
   #endif