CHMHMapNode.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 CHMHMapNode_H
#define CHMHMapNode_H

#include <mrpt/utils/safe_pointers.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/hmtslam/HMT_SLAM_common.h>

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CMHPropertiesValuesList.h>
#include <mrpt/utils/CTypeSelector.h>
#include <map>

namespace mrpt
{
        namespace hmtslam
        {
                class HMTSLAM_IMPEXP CHierarchicalMHMap;
                class HMTSLAM_IMPEXP CHMHMapArc;

                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHMHMapNode,mrpt::utils::CSerializable, HMTSLAM_IMPEXP )

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

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

                public:
                        /** The type of the IDs of nodes.
                          */
                        typedef mrpt::utils::TNodeID  TNodeID;

                        /** The hypothesis IDs under which this node exists.
                          */
                        THypothesisIDSet                m_hypotheses;

                protected:
                        /** An unique identifier for the node: it is randomly generated at construction or read from stream when loaded.
                          */
                        TNodeID                                 m_ID;

                        /** The list of all arcs from/to this node:
                          */
                        TArcList                                m_arcs;

                        /** Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.
                          * \note At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.
                          */
                        void  onArcDestruction(CHMHMapArc *arc);

                        /** Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects.
                          */
                        void  onArcAddition(CHMHMapArcPtr &arc);

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

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

                public:
                        /** Class factory
                          */
                        static CHMHMapNodePtr Create(
                                CHierarchicalMHMap              *parent = NULL,
                                const THypothesisIDSet  &hyps = THypothesisIDSet() );

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

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

                        /** The type of the node, the possibilities are:
                          *             - Place
                          *             - Area
                          *             - TopologicalMap
                          *             - Object
                          */
                        utils::CTypeSelector                    m_nodeType;

                        /** Reads the ID of the node (read-only property)
                          */
                        TNodeID getID() const;

                        /** The label of the node, only for display it to the user.
                          */
                        std::string             m_label;

                        /** Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc.
                          */
                        unsigned int getLevelInTheHierarchy();

                        /** Returns the number of arcs starting from/ending into this node.
                          */
                        unsigned int getRelatedArcsCount();

                        /** Returns a list with the arcs from/to this node.
                          */
                        void getArcs( TArcList &out ) const
                        {
                                out = m_arcs;
                        }

                        /** Returns a list with the arcs from/to this node existing in a given hypothesis ID.
                          */
                        void getArcs( TArcList &out, const THypothesisID &hyp_id ) const;

                        /** Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type.
                          */
                        void getArcs( TArcList &out, const char *arcType, const THypothesisID &hyp_id ) const;

                        /** Check whether an arc exists towards the given area */
                        bool isNeighbor(const TNodeID &otherArea, const THypothesisID &hyp_id ) const;

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


                /** A map between node IDs and nodes (used in HMT-SLAM).
                  * \sa CHMTSLAM
                  */
                typedef std::map<CHMHMapNode::TNodeID,CHMHMapNodePtr>  TNodeList;
                typedef mrpt::utils::list_searchable<CHMHMapNode::TNodeID> TNodeIDList;
                typedef std::set<CHMHMapNode::TNodeID> TNodeIDSet;
                typedef std::pair<CHMHMapNode::TNodeID,CHMHMapNode::TNodeID>  TPairNodeIDs;

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

#endif