robot_state.hpp

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#pragma once

#include <boost/shared_ptr.hpp>
#include "ros/ros.h"
#include <geometry_msgs/Pose.h>
#include <model/ptu_tuple.hpp>

namespace directSearchWS {


class RobotState {

private:
    PosePtr robotPosePtr;
    PtuTuplePtrVecPtr ptuTuplePtrVecPtr;

public:
    RobotState(PosePtr robotPosePtr, PtuTuplePtrVecPtr ptuTuplePtrVecPtr);

    //Getter
    PosePtr getRobotPosePtr() const;

    PtuTuplePtr getTopPtuTuplePtr() const;

    PtuTuplePtrVecPtr getPtuTuplePtrVecPtr() const;

    void eraseFrontPTUTuplePtr();

    int getPtuListSize() const;

};

typedef boost::shared_ptr<RobotState> RobotStatePtr;
typedef std::vector<RobotStatePtr> RobotStatePtrVec;
typedef boost::shared_ptr<RobotStatePtrVec> RobotStatePtrVecPtr;

std::ostream& operator<<(std::ostream &strm, const RobotState &robot_state);
std::ostream& operator<<(std::ostream &strm, const RobotStatePtr &robot_state_ptr);
std::ostream& operator<<(std::ostream &strm, const RobotStatePtrVec &robot_state_ptr_vec);
std::ostream& operator<<(std::ostream &strm, const RobotStatePtrVecPtr &robot_state_ptr_vec_ptr);

}