Mission.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Copyright (C) 2007, Tarun Nimmagadda
00004  *
00005  *  License: Modified BSD Software License Agreement
00006  *
00007  *  $Id: Mission.h 435 2010-08-20 15:24:22Z jack.oquin $
00008  */
00009 
00010 //The University of Texas at Austin
00011 //This file defines the Mission Data Structure
00012 
00013 //Speeds are stored in the Graph object, so this Class will
00014 //only store the Checkpoints that need to be hit. 
00015 
00016 #ifndef __MISSION_h__
00017 #define __MISSION_h__
00018 
00019 #include <cstdlib>
00020 #include <deque>
00021 #include <fstream>
00022 #include <art_map/RNDF.h>
00023 #include <art_map/Graph.h>
00024 
00025 class Mission{
00026  public:        
00027   Mission(const MDF& mdf);
00028   Mission(const Mission& that);
00029   ~Mission()
00030     {
00031       clear();
00032     };
00033 
00034   bool compare(const Mission &that);
00035 
00036 
00037   void print();
00038   //Removes the Current Checkpoint from the list
00039   bool nextPoint();
00040   int current_checkpoint_id();
00041   int next_checkpoint_id();
00042   ElementID current_checkpoint_elementid();
00043   ElementID next_checkpoint_elementid();
00044   int remaining_points(){return checkpoint_ids.size();}
00045   //Returns whether the MDF was valid match to the graph
00046   bool populate_elementid(const Graph& graph);
00047 
00048   // Hooks to save, reload Mission state
00049   void save(const char* fName);
00050   bool load(const char* fName, const Graph& graph);
00051   void clear();
00052 
00053   //NOTE: Checkpoints are stored in reverse order
00054   std::deque<int> checkpoint_ids;
00055   //Element ID is stored here. 
00056   std::deque<ElementID> checkpoint_elementid;
00057 };
00058 
00059 /*int parse_integer(std::string line, std::string token, bool& valid);*/
00060 ElementID parse_elementid(std::string line, bool& valid);
00061 #endif
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Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11