Perimeter.hh

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/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef IGNITION_RNDF_PERIMETER_HH_
#define IGNITION_RNDF_PERIMETER_HH_

#include <iosfwd>
#include <memory>
#include <vector>

#include "ignition/rndf/Helpers.hh"

namespace ignition
{
  namespace rndf
  {
    // Forward declarations.
    class Exit;
    class PerimeterHeaderPrivate;
    class PerimeterPrivate;
    class Waypoint;

    class PerimeterHeader
    {
      public: PerimeterHeader();

      public: ~PerimeterHeader() = default;


      public: bool Load(std::ifstream &_rndfFile,
                        const int _zoneId,
                        const int _perimeterId,
                        int &_lineNumber);


      public: unsigned int NumExits() const;

      public: std::vector<Exit> &Exits();

      public: const std::vector<Exit> &Exits() const;

      public: bool AddExit(const Exit &_newExit);

      public: bool RemoveExit(const Exit &_exit);

      private: std::unique_ptr<PerimeterHeaderPrivate> dataPtr;
    };

    class IGNITION_RNDF_VISIBLE Perimeter
    {
      public: Perimeter();

      public: Perimeter(const Perimeter &_other);

      public: virtual ~Perimeter();


      public: bool Load(std::ifstream &_rndfFile,
                        const int _zoneId,
                        int &_lineNumber);


      public: unsigned int NumPoints() const;

      public: std::vector<rndf::Waypoint> &Points();

      public: const std::vector<rndf::Waypoint> &Points() const;

      public: bool Point(const int _wpId, rndf::Waypoint &_wp) const;

      public: bool UpdatePoint(const rndf::Waypoint &_wp);

      public: bool AddPoint(const rndf::Waypoint &_newWaypoint);

      public: bool RemovePoint(const int _wpId);


      public: unsigned int NumExits() const;

      public: std::vector<Exit> &Exits();

      public: const std::vector<Exit> &Exits() const;

      public: bool AddExit(const Exit &_newExit);

      public: bool RemoveExit(const Exit &_exit);


      public: bool Valid() const;


      public: bool operator==(const Perimeter &_other) const;

      public: bool operator!=(const Perimeter &_other) const;

      public: Perimeter &operator=(const Perimeter &_other);

      private: std::unique_ptr<PerimeterPrivate> dataPtr;
    };
  }
}
#endif