Program Listing for File transition.h
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/*
* 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