Lane.hh

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/*
 * Copyright (C) 2016 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 MANIFOLD_RNDF_LANE_HH_
#define MANIFOLD_RNDF_LANE_HH_

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

#include "manifold/Helpers.hh"

namespace manifold
{
  namespace rndf
  {
    // Forward declarations.
    class Checkpoint;
    class Exit;
    class LaneHeaderPrivate;
    class LanePrivate;
    class Waypoint;

    enum class Marking
    {
      DOUBLE_YELLOW,
      SOLID_YELLOW,
      SOLID_WHITE,
      BROKEN_WHITE,
      UNDEFINED,
    };

    class LaneHeader
    {
      public: LaneHeader();

      public: ~LaneHeader() = default;


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


      public: double Width() const;

      public: bool SetWidth(const double _newWidth);


      public: Marking LeftBoundary() const;

      public: void SetLeftBoundary(const Marking &_boundary);

      public: Marking RightBoundary() const;

      public: void SetRightBoundary(const Marking &_boundary);


      public: unsigned int NumCheckpoints() const;

      public: std::vector<rndf::Checkpoint> &Checkpoints();

      public: const std::vector<rndf::Checkpoint> &Checkpoints() const;

      public: bool Checkpoint(const int _cpId, rndf::Checkpoint &_cp) const;

      public: bool UpdateCheckpoint(const rndf::Checkpoint &_cp);

      public: bool AddCheckpoint(const rndf::Checkpoint &_newCheckpoint);

      public: bool RemoveCheckpoint(const int _cpId);


      public: unsigned int NumStops() const;

      public: std::vector<int> &Stops();

      public: const std::vector<int> &Stops() const;

      public: bool AddStop(const int _waypointId);

      public: bool RemoveStop(const int _waypointId);


      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<LaneHeaderPrivate> dataPtr;
    };

    class MANIFOLD_VISIBLE Lane
    {
      public: Lane();

      public: explicit Lane(const int _id);

      public: explicit Lane(const Lane &_other);

      public: virtual ~Lane();


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


      public: int Id() const;

      public: bool SetId(const int _id);


      public: unsigned int NumWaypoints() const;

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

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

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

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

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

      public: bool RemoveWaypoint(const int _wpId);


      public: double Width() const;

      public: bool SetWidth(const double _newWidth);


      public: Marking LeftBoundary() const;

      public: void SetLeftBoundary(const Marking &_boundary);

      public: Marking RightBoundary() const;

      public: void SetRightBoundary(const Marking &_boundary);


      public: unsigned int NumCheckpoints() const;

      public: std::vector<rndf::Checkpoint> &Checkpoints();

      public: const std::vector<rndf::Checkpoint> &Checkpoints() const;

      public: bool Checkpoint(const int _cpId, rndf::Checkpoint &_cp) const;

      public: bool UpdateCheckpoint(const rndf::Checkpoint &_cp);

      public: bool AddCheckpoint(const rndf::Checkpoint &_newCheckpoint);

      public: bool RemoveCheckpoint(const int _cpId);


      public: unsigned int NumStops() const;

      public: std::vector<int> &Stops();

      public: const std::vector<int> &Stops() const;

      public: bool AddStop(const int _waypointId);

      public: bool RemoveStop(const int _waypointId);


      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 Lane &_other) const;

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

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

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