segment.h

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#ifndef SEGMENT_H
#define SEGMENT_H

#include <ros/ros.h>
#include <eigen3/Eigen/Dense>

namespace tuw_graph
{
    class Segment
    {
        public:
            Segment(const std::vector<Eigen::Vector2d> &_path, const float _min_space);
            Segment(const uint32_t _id, const std::vector<Eigen::Vector2d> &_points, const float _min_space);

            void addPredecessor(const uint32_t _predecessor);   
            void addSuccessor(const uint32_t _successor);  
            std::vector<Eigen::Vector2d> getPath() const;  
            void setPath(const std::vector<Eigen::Vector2d> &_path);  
            float getMinPathSpace() const;  
            void setMinPathSpace(const float _space);  
            int getLength() const;  
            bool containsPredecessor(const uint32_t _predecessor);  
            bool containsSuccessor(const uint32_t _successor);  
            static void resetId();            
              
            const Eigen::Vector2d &getStart() const;  
            const Eigen::Vector2d &getEnd() const;
  
            void setStart(const Eigen::Vector2d &_pt);  
            void setEnd(const Eigen::Vector2d &_pt);
  
            uint32_t getId() const;  
            void setId(const uint32_t _id);  
            const std::vector<uint32_t> &getPredecessors() const;  
            const std::vector<uint32_t> &getSuccessors() const;
  
            void cleanNeighbors(uint32_t _id);  
            void decreaseNeighborIdAbove(uint32_t _id);  
            bool &getOptStart();  
            bool &getOptEnd();

        private:
            Eigen::Vector2d start_, end_;
            float min_space_;
            float length_;
            std::vector<Eigen::Vector2d> wayPoints_;

            std::vector<uint32_t> predecessor_;
            std::vector<uint32_t> successor_;

            static uint32_t static_id_;
            uint32_t id_;

            bool optimizedStart_;
            bool optimizedEnd_;

    };
}
#endif // PLANNER_NODE_H