World.h

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#ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_WORLD_WORLD_H_
#define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_WORLD_WORLD_H_

// worldlib
#include "Item.h"
#include "Room.h"

// ROS
#include <tf2_ros/buffer.h>

// YAML
#include <yaml-cpp/yaml.h>

// C++ Standard Library
#include <string>
#include <vector>

namespace rail
{
namespace spatial_temporal_learning
{
namespace worldlib
{
namespace world
{

class World
{
public:
  World(const std::string &fixed_frame_id = "");

  bool loadFromYaml(const std::string &file);

#ifdef YAMLCPP_GT_0_5_0

  Object parseObject(const YAML::Node &object) const;
#endif

  const std::string &getFixedFrameID() const;

  void setFixedFrameID(const std::string &fixed_frame_id);

  const std::vector<Room> &getRooms() const;

  std::vector<Room> &getRooms();

  size_t getNumRooms() const;

  const Room &getRoom(const size_t index) const;

  Room &getRoom(const size_t index);

  void addRoom(const Room &room);

  void removeRoom(const size_t index);

  bool roomExists(const std::string &name) const;

  const Room &findRoom(const std::string &name) const;

  Room &findRoom(const std::string &name);

  const std::vector<Item> &getItems() const;

  std::vector<Item> &getItems();

  size_t getNumItems() const;

  const Item &getItem(const size_t index) const;

  Item &getItem(const size_t index);

  void addItem(const Item &item);

  void removeItem(const size_t index);

  bool itemExists(const std::string &name) const;

  const Item &findItem(const std::string &name) const;

  Item &findItem(const std::string &name);

  void findClosestSurface(const geometry::Position &position, size_t &room_index, size_t &surface_index) const;

  bool findPlacementSurface(const geometry::Position &position, size_t &room_index, size_t &surface_index,
      size_t &placement_surface_index) const;

private:
  std::string fixed_frame_id_;
  std::vector<Room> rooms_;
  std::vector<Item> items_;
};

}
}
}
}

#endif