Program Listing for File Region.hpp

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/*
 * Copyright (C) 2019 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 RMF_TRAFFIC__REGION_HPP
#define RMF_TRAFFIC__REGION_HPP

#include <rmf_traffic/detail/bidirectional_iterator.hpp>

#include <rmf_traffic/geometry/Space.hpp>

#include <rmf_traffic/Time.hpp>

#include <rmf_utils/impl_ptr.hpp>

#include <vector>

namespace rmf_traffic {

//==============================================================================
class Region
{
public:

  using Space = geometry::Space;
  template<typename E, typename I, typename F>
  using base_iterator = rmf_traffic::detail::bidirectional_iterator<E, I, F>;

  Region(
    std::string map,
    Time lower_bound,
    Time upper_bound,
    std::vector<Space> spaces);

  Region(
    std::string map,
    std::vector<Space> spaces);

  const std::string& get_map() const;

  Region& set_map(std::string map);

  const Time* get_lower_time_bound() const;

  Region& set_lower_time_bound(Time time);

  Region& remove_lower_time_bound();

  const Time* get_upper_time_bound() const;

  Region& set_upper_time_bound(Time time);

  Region& remove_upper_time_bound();

  class IterImpl;
  using iterator = base_iterator<Space, IterImpl, Region>;
  using const_iterator = base_iterator<const Space, IterImpl, Region>;

  void push_back(Space space);

  void pop_back();

  iterator erase(iterator it);

  iterator erase(iterator first, iterator last);

  iterator begin();

  const_iterator begin() const;

  const_iterator cbegin() const;

  iterator end();

  const_iterator end() const;

  const_iterator cend() const;

  std::size_t num_spaces() const;

  class Implementation;
private:
  rmf_utils::impl_ptr<Implementation> _pimpl;
};

namespace detail {

//==============================================================================
extern template class bidirectional_iterator<
    geometry::Space, Region::IterImpl, Region
>;

//==============================================================================
extern template class bidirectional_iterator<
    const geometry::Space, Region::IterImpl, Region
>;

// Equality
} // namespace detail

//==============================================================================
bool operator==(
  const Region& lhs,
  const Region& rhs);

//==============================================================================
bool operator!=(
  const Region& lhs,
  const Region& rhs);

} // namespace rmf_traffic

#endif // RMF_TRAFFIC__REGION_HPP