World.h
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00001 
00011 #ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_WORLD_WORLD_H_
00012 #define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_WORLD_WORLD_H_
00013 
00014 // worldlib
00015 #include "Item.h"
00016 #include "Room.h"
00017 
00018 // ROS
00019 #include <tf2_ros/buffer.h>
00020 
00021 // YAML
00022 #include <yaml-cpp/yaml.h>
00023 
00024 // C++ Standard Library
00025 #include <string>
00026 #include <vector>
00027 
00028 namespace rail
00029 {
00030 namespace spatial_temporal_learning
00031 {
00032 namespace worldlib
00033 {
00034 namespace world
00035 {
00036 
00043 class World
00044 {
00045 public:
00053   World(const std::string &fixed_frame_id = "");
00054 
00064   bool loadFromYaml(const std::string &file);
00065 
00066 #ifdef YAMLCPP_GT_0_5_0
00067 
00075   Object parseObject(const YAML::Node &object) const;
00076 #endif
00077 
00085   const std::string &getFixedFrameID() const;
00086 
00094   void setFixedFrameID(const std::string &fixed_frame_id);
00095 
00103   const std::vector<Room> &getRooms() const;
00104 
00112   std::vector<Room> &getRooms();
00113 
00121   size_t getNumRooms() const;
00122 
00132   const Room &getRoom(const size_t index) const;
00133 
00143   Room &getRoom(const size_t index);
00144 
00152   void addRoom(const Room &room);
00153 
00162   void removeRoom(const size_t index);
00163 
00172   bool roomExists(const std::string &name) const;
00173 
00183   const Room &findRoom(const std::string &name) const;
00184 
00194   Room &findRoom(const std::string &name);
00195 
00203   const std::vector<Item> &getItems() const;
00204 
00212   std::vector<Item> &getItems();
00213 
00221   size_t getNumItems() const;
00222 
00232   const Item &getItem(const size_t index) const;
00233 
00243   Item &getItem(const size_t index);
00244 
00252   void addItem(const Item &item);
00253 
00262   void removeItem(const size_t index);
00263 
00273   bool itemExists(const std::string &name) const;
00274 
00285   const Item &findItem(const std::string &name) const;
00286 
00297   Item &findItem(const std::string &name);
00298 
00309   void findClosestSurface(const geometry::Position &position, size_t &room_index, size_t &surface_index) const;
00310 
00325   bool findPlacementSurface(const geometry::Position &position, size_t &room_index, size_t &surface_index,
00326       size_t &placement_surface_index) const;
00327 
00328 private:
00330   std::string fixed_frame_id_;
00332   std::vector<Room> rooms_;
00334   std::vector<Item> items_;
00335 };
00336 
00337 }
00338 }
00339 }
00340 }
00341 
00342 #endif


worldlib
Author(s): Russell Toris
autogenerated on Thu Jun 6 2019 20:55:36