PointOfInterest.h

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/***************************************************************************
 *  PointOfInterest.h
 *
 *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
 *           Universitaet Koblenz-Landau
 *
 *  Additional information:
 *  $Id: PointOfInterest.h 46293 2011-09-07 11:04:31Z cnluzon $
 **************************************************************************/

#ifndef POINTOFINTEREST_H
#define POINTOFINTEREST_H

#include <string>
#include <map>

#include "Workers/Math/Pose.h"
//#include "Architecture/Serializer/ExtendedOutStream.h" TODO kann wahrscheinlich weg
//#include "Architecture/Serializer/ExtendedInStream.h"


typedef std::map< std::string, std::string > StringMapT;
typedef std::map< std::string, float > FloatMapT;
typedef std::map< std::string, int > IntMapT;

class PointOfInterest: public Pose
{

  public:

    enum PoiType {  DEFAULT           =100,
                    VICTIM            =200,
                    OBJECT            =300,
                    GRIPPABLE_OBJECT  =400,
                    PERSON            =600,
                    ROOMBA            =700,
                    HAZARD_MATERIAL   =800,
                    START_POSITION    =900,
                    START_ORIENTATION =1000
               };

    PointOfInterest( );

    PointOfInterest ( int id, std::string name, PoiType type, float posX, float posY, std::string remarks,
                      StringMapT stringMap=StringMapT(), FloatMapT floatMap=FloatMapT() ,
                      IntMapT intMap=IntMapT() )
        : Pose ( posX, posY, 0.0f )
    {
      init ( id, name, type , remarks, stringMap, floatMap, intMap );
    }

    PointOfInterest ( int id, std::string name, PoiType type, float posX, float posY, float theta, std::string remarks,
                      StringMapT stringMap=StringMapT(), FloatMapT floatMap=FloatMapT(), IntMapT intMap=IntMapT() )
        : Pose ( posX, posY, theta )
    {
      init ( id, name, type , remarks, stringMap, floatMap, intMap );
    }

    PointOfInterest ( std::string name, PoiType type, float posX, float posY , std::string remarks )
        : Pose ( posX, posY, 0.0f )
    {
      init ( -1, name, type , remarks, StringMapT(), FloatMapT(), IntMapT() );
    }

    PointOfInterest ( std::string name, PoiType type, float posX, float posY , float theta, std::string remarks )
        : Pose ( posX, posY, theta )
    {
      init ( -1, name, type , remarks, StringMapT(), FloatMapT(), IntMapT() );
    }

    PointOfInterest ( int id, const PointOfInterest* poi );

    virtual ~PointOfInterest() {}

    bool hasName ( std::string name ) const;

    bool hasInName ( std::string part ) const;

    // SETTER FUNCTIONS /////////////////////////////

    void setRemarks ( std::string remarks ) { m_Remarks = remarks; }

    void setName ( std::string name ) { m_Name = name; }

    void addString ( std::string key, std::string data ) { m_StringMap.insert ( std::pair< std::string, std::string > ( key, data ) ); }

    void addFloat ( std::string key, float data ) { m_FloatMap.insert ( std::pair< std::string, float > ( key, data ) ); }

    void addInt ( std::string key, int data ) { m_IntMap.insert ( std::pair< std::string, int > ( key, data ) ); }

    // GETTER FUNCTIONS //////////////////////

    int getId() const { return m_Id; }

    std::string getName() const { return m_Name; }

    PoiType getType() const { return m_Type; }

    std::string getRemarks() const { return m_Remarks; }

    std::string getString ( std::string key ) const { return m_StringMap.find ( key )->second; }

    float getFloat ( std::string key ) const { return m_FloatMap.find ( key )->second; }

    int getInt ( std::string key ) const { return m_IntMap.find ( key )->second; }

    std::map<std::string, std::string> getStringMap() const { return m_StringMap; }

    std::map<std::string, float> getFloatMap() const { return m_FloatMap; }

    std::map<std::string, int> getIntMap() const { return m_IntMap; }

//    // (DE)SERIALIZATION ///////////////////////////////////
//    void storer ( ExtendedOutStream& ) const ;
//    PointOfInterest ( ExtendedInStream& );

    void printOn ( std::ostream& strm ) const;

  private:

    void init ( int id, std::string name, PoiType type, std::string remarks, StringMapT stringMap, FloatMapT floatMap, IntMapT intMap );

    int m_Id;
    std::string m_Name;
    PoiType m_Type;
    std::string m_Remarks;

    StringMapT m_StringMap;
    IntMapT m_IntMap;
    FloatMapT m_FloatMap;

};

#endif