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 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 CHMHMapArc : public mrpt::utils::CSerializable
{
        friend class CHierarchicalMHMap;
        friend class CHMHMapNode;
        friend class CHierarchicalMapMHPartition;
        friend class TArcList;

        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 nullptr and the arc is no longer a valid one.
         */
        void onNodeDestruction(CHMHMapNode* node);

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

        /** Alternative constructor, using pointers for convenience.
          */
        CHMHMapArc(
                CHMHMapNode::Ptr& from, CHMHMapNode::Ptr& 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.

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

#endif