roadmap.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef TOPOLOGICAL_ROADMAP_ROADMAP_H
#define TOPOLOGICAL_ROADMAP_ROADMAP_H

#include <topological_map_2d/topological_map.h>
#include <topological_nav_msgs/RoadmapNode.h>
#include <topological_nav_msgs/RoadmapEdge.h>

namespace topological_roadmap
{

namespace msg=topological_nav_msgs;

/************************************************************
 * Underlying boost graph typedefs
 ***********************************************************/

typedef boost::adjacency_list<boost::multisetS, boost::listS, boost::undirectedS,
                              msg::RoadmapNode, msg::RoadmapEdge> Graph;
typedef boost::graph_traits<Graph>::edge_descriptor GraphEdge;
typedef boost::graph_traits<Graph>::vertex_descriptor GraphVertex;

/************************************************************
 * Class def
 ***********************************************************/

class Roadmap : public Graph
{
public:

  typedef msg::RoadmapNode NodeInfo;
  typedef msg::RoadmapEdge EdgeInfo;
  typedef std::set<unsigned> Nodes;

  Roadmap ();

  Roadmap (const Roadmap& r);

  Roadmap& operator= (const Roadmap& r);

  GraphVertex node (unsigned id) const;

  GraphEdge edge (unsigned id) const;

  const NodeInfo& nodeInfo (unsigned id) const;

  const EdgeInfo& edgeInfo (unsigned id) const;

  unsigned addNode (const NodeInfo& info);

  unsigned addEdge (const EdgeInfo& info);

  void deleteEdge (unsigned id);

  Nodes gridNodes (const unsigned g) const;

  void recomputeIndexes ();

private:

  std::map<unsigned, GraphVertex> vertex_map_;
  std::map<unsigned, GraphEdge> edge_map_;
  std::map<unsigned, Nodes> grid_nodes_;

  // Counter used to autogenerate node ids
  unsigned next_node_id_;

  // Counter used to autogenerate edge ids
  unsigned next_edge_id_;

};


/************************************************************
 * Utilities
 ***********************************************************/

geometry_msgs::Point
positionOnGrid (unsigned n, unsigned g, const Roadmap& r,
                const topological_map_2d::TopologicalMap& t);


std::pair<std::vector<unsigned>, std::vector<geometry_msgs::Point> >
nodesOnGrid (const unsigned g, const Roadmap& r,
             const topological_map_2d::TopologicalMap& t);


} // namespace

#endif // include guard