shapes_manager.hpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#ifndef SHAPES_MANAGER_HPP_
#define SHAPES_MANAGER_HPP_

#include <ros/ros.h>
#include <unordered_map>

#include <visualization_msgs/MarkerArray.h>
#include "cob_obstacle_distance/marker_shapes/marker_shapes_interface.hpp"

class ShapesManager
{
    private:
        std::unordered_map<std::string, PtrIMarkerShape_t> shapes_;
        const ros::Publisher& pub_;

    public:
        typedef std::unordered_map<std::string, PtrIMarkerShape_t>::iterator MapIter_t;
        typedef std::unordered_map<std::string, PtrIMarkerShape_t>::const_iterator MapConstIter_t;

        ShapesManager(const ros::Publisher &pub);

        ~ShapesManager();

        void addShape(const std::string& id, PtrIMarkerShape_t s);

        void removeShape(const std::string& id);


        bool getShape(const std::string& id, PtrIMarkerShape_t& s);


        void draw();

        void clear();

        uint32_t count() const;

        uint32_t count(const std::string& id) const;


        MapIter_t begin() {return this->shapes_.begin(); }
        MapConstIter_t begin() const {return this->shapes_.begin(); }
        MapIter_t end() {return this->shapes_.end(); }
        MapConstIter_t end() const {return this->shapes_.end(); }
};

#endif /* SHAPES_MANAGER_HPP_ */