CHMHMapArc.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CHMHMapArc_H
#define CHMHMapArc_H

#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/hmtslam/CHMHMapNode.h>
#include <mrpt/utils/CSerializable.h>

namespace mrpt
{
        namespace hmtslam
        {
                class HMTSLAM_IMPEXP CHierarchicalMHMap;

                /** A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.
                 *   The arc itself will be considered only if some given hypothesisID matchs its own ID.
                 * \note Create objects by invoking the class factory "::Create"
                 *
                 * \sa CHierarchicalMHMap,CHMHMapNode
                  * \ingroup mrpt_hmtslam_grp
                 */
                class HMTSLAM_IMPEXP CHMHMapArc : public mrpt::utils::CSerializable
                {
                        friend class CHierarchicalMHMap;
                        friend class CHMHMapNode;
                        friend class CHierarchicalMapMHPartition;
                        friend class TArcList;

                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( CHMHMapArc )

                public:
                        /** The hypothesis IDs under which this arc exists.
                          */
                        THypothesisIDSet                m_hypotheses;

                protected:
                        /** The origin/target nodes for this arc.
                          */
                        CHMHMapNode::TNodeID    m_nodeFrom, m_nodeTo;

                        /** The hierarchical graph in which this object is into. */
                        mrpt::utils::safe_ptr<CHierarchicalMHMap>       m_parent;


                         /** Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects
                          *   When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.
                          */
                         void  onNodeDestruction(CHMHMapNode *node);

                private:
                        /** Private constructor (see ::Create class factory)
                          */
                        CHMHMapArc(
                                const CHMHMapNode::TNodeID              &from =0,
                                const CHMHMapNode::TNodeID              &to   =0,
                                const THypothesisIDSet                  &hyps = THypothesisIDSet(),
                                CHierarchicalMHMap              *parent=NULL);

                        /** Alternative constructor, using pointers for convenience.
                          */
                        CHMHMapArc(
                                CHMHMapNodePtr          &from,
                                CHMHMapNodePtr          &to,
                                const THypothesisIDSet          &hyps,
                                CHierarchicalMHMap                      *parent);

                public:
                        /** Constructor from node IDs
                          */
                        static CHMHMapArcPtr Create(
                                const CHMHMapNode::TNodeID              &from,
                                const CHMHMapNode::TNodeID              &to,
                                const THypothesisIDSet                  &hyps = THypothesisIDSet(),
                                CHierarchicalMHMap              *parent=NULL);

                        /** Alternative constructor, using pointers for convenience.
                          */
                        static CHMHMapArcPtr Create(
                                CHMHMapNodePtr          &from,
                                CHMHMapNodePtr          &to,
                                const THypothesisIDSet          &hyps,
                                CHierarchicalMHMap                      *parent);

                        /** Destructor
                          */
                        virtual ~CHMHMapArc();

                        /** Return the starting node of the arc:
                          */
                        CHMHMapNode::TNodeID     getNodeFrom() const { ASSERT_(m_nodeFrom!=AREAID_INVALID); return m_nodeFrom; }

                        /** Return the ending node of the arc:
                          */
                        CHMHMapNode::TNodeID     getNodeTo() const { ASSERT_(m_nodeTo!=AREAID_INVALID); return m_nodeTo; }

                        /** The type of the arc, the possibilities are:
                                        - "Membership": for abstractions
                                        - "Navegability"
                                        - "RelativePose"
                          */
                        utils::CTypeSelector                    m_arcType;

                        /** The annotations of the arc, see the general description of the class for possible properties and values.
                          */
                        utils::CMHPropertiesValuesList  m_annotations;

                }; // End of class def.
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CHMHMapArc,mrpt::utils::CSerializable, HMTSLAM_IMPEXP )


        } // End of namespace
} // End of namespace

#endif