topological_node.h

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#ifndef _TOPOLOGICAL_NODE_H_
#define _TOPOLOGICAL_NODE_H_

#include <ros/ros.h>
#include <geometry_msgs/Pose.h>

#include <boost/shared_ptr.hpp>



namespace topological_tools
{
class TopologicalNode
{
public:
    TopologicalNode ( const geometry_msgs::Pose& goal, const std::string& name );

    void connect ( boost::shared_ptr<TopologicalNode> tpn, const std::string& connection_label );
    boost::shared_ptr<TopologicalNode> getConnection ( const std::string& connection_label );

    bool hasConnection ( const std::string& connection_label );
    const geometry_msgs::Pose& getGoalPose();
    const std::string& getName();

private:
    geometry_msgs::Pose goal_;
    std::string name_;

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

#endif