topological_node.cpp

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#include <topological_tools/topological_node.h>



using namespace std;
using namespace ros;
using namespace topological_tools;



TopologicalNode::TopologicalNode ( const geometry_msgs::Pose& goal, const string& name ) :
    goal_ ( goal ),
    name_ ( name )
{}



void TopologicalNode::connect ( boost::shared_ptr<TopologicalNode> tpn, const string& connection_label )
{
    connections_[connection_label] = tpn;
}



boost::shared_ptr<TopologicalNode> TopologicalNode::getConnection ( const string& connection_label )
{
    if ( !connections_.count ( connection_label ) )
    {
        ROS_ERROR_STREAM ( "TopologicalNode:: Node " << name_ << " has no connection '" << connection_label << "'." );
        abort();
    }

    return connections_[connection_label];
}



bool TopologicalNode::hasConnection ( const string& connection_label )
{
    return connections_.count ( connection_label );
}



const geometry_msgs::Pose& TopologicalNode::getGoalPose()
{
    return goal_;
}



const string& TopologicalNode::getName()
{
    return name_;
}