Class Region

Defined in File Region.hpp

Class Documentation

class Region

A class to describe a region within spacetime.

This specifies the map whose coordinates should be used, a lower and upper bound to define a time range, and a set of geometry::Space objects to define regions with space.

For the geometry::Space objects, this class acts like an STL container and provides an iterator interface to specify, access, and modify them.

Public Types

using Space = geometry::Space 

template<typename E, typename I, typename F> using base_iterator = rmf_traffic::detail::bidirectional_iterator<E, I, F>

using iterator = base_iterator<Space, IterImpl, Region>

using const_iterator = base_iterator<const Space, IterImpl, Region>

Public Functions

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

Construct a region given the parameters.

Parameters:

map – [in] The map whose coordinates will be used to define the regions in space.
lower_bound – [in] The lower bound for the time range.
upper_bound – [in] The upper bound for the time range.
spaces – [in] A vector of geometry::Space objects to define the desired regions in space.

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

Construct a region with no time constraints.

Parameters:

map – [in] The map whose coordinates will be used to define the regions in space.
spaces – [in] A vector of geometry::Space objects to define the desired regions in space.

const std::string &get_map() const: Get the name of the map that this Spacetime refers to.

Region &set_map(std::string map): Set the name of the map that this Spacetime refers to.

const Time *get_lower_time_bound() const

Get the lower bound for the time range.

If there is no lower bound for the time range, then this returns a nullptr.

Region &set_lower_time_bound(Time time): Set the lower bound for the time range.

Region &remove_lower_time_bound(): Remove the lower bound for the time range.

const Time *get_upper_time_bound() const

Get the upper bound for the time range.

If there is no upper bound for the time range, then this returns a nullptr.

Region &set_upper_time_bound(Time time): Set the upper bound for the time range.

Region &remove_upper_time_bound(): Remove the upper bound for the time range.

void push_back(Space space): Add a region of space.

void pop_back(): Remove the last region of space that was added.

iterator erase(iterator it): Erase a specific region of space based on its iterator.

iterator erase(iterator first, iterator last): Erase a specific sets of regions of space based on their iterators.

iterator begin(): Get the beginning iterator for the regions of space.

const_iterator begin() const: const-qualified begin()

const_iterator cbegin() const: Explicitly const-qualified alternative for begin()

iterator end(): Get the one-past-the-end iterator for the regions of space.

const_iterator end() const: const-qualified end()

const_iterator cend() const: Explicitly const-qualified alternative for end()

std::size_t num_spaces() const: Get the number of Space regions in this Spacetime region.