Waypoint.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_WAYPOINT_WAYPOINT_HH_
#define MANIFOLD_WAYPOINT_WAYPOINT_HH_

#include <iosfwd>
#include <memory>

#include "manifold/Helpers.hh"

namespace ignition
{
  namespace math
  {
    class SphericalCoordinates;
  }
}

namespace manifold
{
  namespace rndf
  {
    // Forward declarations.
    class WaypointPrivate;

    class MANIFOLD_VISIBLE Waypoint
    {
      public: Waypoint();

      public: Waypoint(const int _id,
                       const ignition::math::SphericalCoordinates &_location);

      public: Waypoint(const Waypoint &_other);

      public: virtual ~Waypoint();


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


      public: int Id() const;

      public: bool SetId(const int _id);


      public: ignition::math::SphericalCoordinates &Location();


      public: bool Valid() const;


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

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

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

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