topological_map.h

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#ifndef _TOPOLOGICAL_MAP_H_
#define _TOPOLOGICAL_MAP_H_

#include <topological_tools/topological_node.h>



namespace topological_tools
{
class TopologicalMap
{
public:
    TopologicalMap ( const std::string& map_file );

    bool hasNode ( const std::string& node_name );

    boost::shared_ptr<TopologicalNode> getNodeByName ( const std::string& node_name );

    void addNode ( geometry_msgs::Pose goal, const std::string& node_name );

private :

    std::map<std::string, boost::shared_ptr<TopologicalNode> > node_map_;
};
}

#endif