Map2DArea.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_MAP2DAREA_H
#define YARP_DEV_MAP2DAREA_H
 
#include <yarp/os/Portable.h>
#include <yarp/math/Vec2D.h>
#include <yarp/dev/api.h>
#include <yarp/dev/Map2DLocation.h>
#include <sstream>
#include <string>
#include <vector>
 
namespace yarp
{
    namespace dev
    {
        namespace Nav2D
        {
            class YARP_dev_API Map2DArea : public yarp::os::Portable
            {
            private:
                yarp::dev::Nav2D::Map2DLocation helper_tmp_location;
 
            public:
                Map2DArea(const std::string& map_name, const std::vector<yarp::math::Vec2D<double>> area_points);
 
                Map2DArea(const std::string& map_name, const std::vector<yarp::dev::Nav2D::Map2DLocation> area_points);
 
                Map2DArea();
 
                std::string toString() const;
 
                bool operator!=(const Map2DArea& r) const;
 
                bool operator==(const Map2DArea& r) const;
 
                bool isValid() const;
 
                bool checkLocationInsideArea(yarp::dev::Nav2D::Map2DLocation loc);
 
                bool findAreaBounds(yarp::dev::Nav2D::Map2DLocation& lt, yarp::dev::Nav2D::Map2DLocation& rb);
 
                bool getRandomLocation(yarp::dev::Nav2D::Map2DLocation& loc);
 
                yarp::math::Vec2D<double>& operator[](size_t index);
 
                void clear();
 
            public:
                std::string map_id;
                std::vector<yarp::math::Vec2D<double>> points;
 
            public:
                /*
                * Read a map2DArea from a connection.
                * return true iff a map2DArea was read correctly
                */
                bool read(yarp::os::ConnectionReader& connection) override;
 
                bool write(yarp::os::ConnectionWriter& connection) const override;
            };
        }
    }
}
 
#endif // YARP_DEV_MAP2DAREA_H