Map2DPath.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_MAP2DPATH_H
#define YARP_DEV_MAP2DPATH_H
 
#include <vector>
#include <yarp/dev/MapGrid2D.h>
#include <yarp/dev/Map2DLocation.h>
#include <yarp/dev/Map2DPathData.h>
 
namespace yarp
{
    namespace dev
    {
        namespace Nav2D
        {
            class YARP_dev_API Map2DPath : public yarp::dev::Map2DPathData
            {
            public:
                Map2DPath(const std::vector<yarp::dev::Nav2D::Map2DLocation> map_waypoints);
 
                Map2DPath();
 
                std::string toString() const;
 
                bool operator!=(const Map2DPath& r) const;
 
                bool operator==(const Map2DPath& r) const;
 
                yarp::dev::Nav2D::Map2DLocation& operator[](size_t index);
 
                size_t size() const;
 
                double getLength() const;
 
                bool isOnSingleMap() const;
 
            public:
                bool read(yarp::os::idl::WireReader& reader) override { return Map2DPathData::read(reader); }
                bool write(const yarp::os::idl::WireWriter& writer) const override { return Map2DPathData::write(writer); }
                bool read(yarp::os::ConnectionReader& reader) override { return Map2DPathData::read(reader); }
                bool write(yarp::os::ConnectionWriter& writer) const override { return Map2DPathData::write(writer); }
 
            public:
                void clear();
 
                using iterator = std::vector<Map2DLocation>::iterator;
                using const_iterator = std::vector<Map2DLocation>::const_iterator;
 
                iterator begin() noexcept;
 
                iterator end() noexcept;
 
                const_iterator cbegin() const noexcept;
 
                const_iterator cend() const noexcept;
 
                void push_back(yarp::dev::Nav2D::Map2DLocation loc);
            };
        }
    }
}
 
#endif