RoadmapNode.h

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// -*- C++ -*-
#ifndef __ROADMAP_NODE_H__
#define __ROADMAP_NODE_H__

#include <vector>
#include <boost/shared_ptr.hpp>
#include "Configuration.h"
#include "exportdef.h"

namespace PathEngine {
  class RoadmapNode;
  typedef boost::shared_ptr<RoadmapNode> RoadmapNodePtr;

  class HRPPLANNER_API RoadmapNode {
  public:
    RoadmapNode(const Configuration& pos) : pos_(pos) {}

    ~RoadmapNode() {}

    void addParent(RoadmapNodePtr node) { parents_.push_back(node); }

    void addChild(RoadmapNodePtr node) { children_.push_back(node); }

    bool removeParent(RoadmapNodePtr node);

    bool removeChild(RoadmapNodePtr node);

    Configuration& position() { return pos_; }

    RoadmapNodePtr parent(unsigned int index);

    RoadmapNodePtr child(unsigned int index);

    unsigned int nParents() const { return parents_.size(); }

    unsigned int nChildren() const { return children_.size(); }

    void visited(bool flag) { visited_ = flag; }

    bool visited() const { return visited_; } 
  private:
    std::vector<RoadmapNodePtr> parents_;

    std::vector<RoadmapNodePtr> children_;

    Configuration pos_;

    bool visited_;

    friend std::ostream& operator<< (std::ostream& out, const RoadmapNode& r) {  return out << r.pos_ << " - (" << r.children_.size() << ")";}
  };
};

#endif // __ROADMAP_NODE_H__