AbstractGraphNode.hpp

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/*
 * AbstractGraphNode.hpp
 *
 *  Created on: Nov 12, 2011
 *      Author: mriedel
 */

#ifndef ABSTRACTGRAPHNODE_HPP_
#define ABSTRACTGRAPHNODE_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <tk_behavior/Behavior.hpp>

// plugin stuff
#include <pluginlib/class_list_macros.h>

#include "Neighbor.hpp"

using namespace TELEKYB_NAMESPACE;

namespace telekyb_behavior {

class AbstractGraphNode : public Behavior {
protected:
        int nodeID; // id of node
        std::map<int, Neighbor*> neighbors; // "ID of neighboring Behaviors"

        ros::NodeHandle nodeHandle;

        ros::Publisher vpPublisher;
        ros::Publisher initDonePublisher;
        ros::Publisher formationConditionDonePublisher;

        // Helper Functions
        void publishVP(const Eigen::Vector3d& virtualPoint) const;
        void publishInitDone(bool initDone_ = true) const;
        void publishConditionDone(bool conditionDone_ = true) const;

public:
        AbstractGraphNode(const std::string& name_, const BehaviorType& type_);
        virtual ~AbstractGraphNode();

        //virtual void initialize();
        //virtual void destroy();
        //virtual bool willBecomeActive(const TKState& currentState);
        //virtual void willBecomeInActive();
        //virtual bool trajectoryStep(const TKState& currentState, TKTrajInput& generatedTrajInput);

        void addNeighbor(int robotID);
        void removeNeighbor(int robotID);

        bool allNeighborsValid() const;



};

}

#endif /* ABSTRACTGRAPHNODE_HPP_ */