environment_objects.h

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#ifndef COLLISION_SPACE_ENVIRONMENT_OBJECTS_
#define COLLISION_SPACE_ENVIRONMENT_OBJECTS_

#include <vector>
#include <string>
#include <map>

#include <geometric_shapes/shapes.h>
#include <tf/LinearMath/Transform.h>

namespace collision_space
{
    
class EnvironmentObjects
{
public:
  EnvironmentObjects(void)
  {
  }
        
  ~EnvironmentObjects(void)
  {
    clearObjects();
  }
        
  struct NamespaceObjects
  {
    std::vector< shapes::StaticShape* > static_shape;
            
    std::vector< shapes::Shape* > shape;

    std::vector< tf::Transform > shape_pose;
  };
        
  std::vector<std::string> getNamespaces(void) const;

  const NamespaceObjects& getObjects(const std::string &ns) const;

  NamespaceObjects& getObjects(const std::string &ns);
        
  void addObject(const std::string &ns, shapes::StaticShape *shape);

  void addObject(const std::string &ns, shapes::Shape *shape, const tf::Transform &pose);
        
  bool removeObject(const std::string &ns, const shapes::Shape *shape);
        
  bool removeObject(const std::string &ns, const shapes::StaticShape *shape);
        
  void clearObjects(const std::string &ns);
        
  void clearObjects(void);

  void addObjectNamespace(const std::string ns);

  EnvironmentObjects* clone(void) const;
        
private:
        
  std::map<std::string, NamespaceObjects> objects_;
  NamespaceObjects empty_;
};
    
}

#endif