graphManagerAbstract.hpp

#ifndef GRAPHMANAGERABSTRACT_HPP
#define GRAPHMANAGERABSTRACT_HPP

#include <boost/graph/adjacency_list.hpp>

#include <kernel/IdFactory.hpp>

#include <graphmap/transformation.hpp>
#include <graphmap/graphProperties.hpp>

namespace jafar{
namespace graphmap{

class GraphManagerAbstract
{
public:
  typedef boost::adjacency_list<boost::setS, boost::vecS, boost::bidirectionalS, Vertex_Properties, Edge_Properties, Graph_Properties> Graph;
  typedef typename boost::graph_traits<Graph>::vertex_descriptor vertex_descriptor;
  typedef typename boost::graph_traits<Graph>::edge_descriptor edge_descriptor;

  typedef kernel::IdFactory<MapId, kernel::IdCollectorNone> IdFactory;

  GraphManagerAbstract(RobotId robotId);
  virtual ~GraphManagerAbstract() {}

  virtual bool addNewEdge(RobotId from_robot, MapId from_map,
              RobotId to_robot, MapId to_map,
              Transformation t) = 0;

  vertex_descriptor getVertexDesc(const RobotId &rob_id, const MapId &map_id);

  vertex_descriptor getVertexDesc(const MapId &map_id);

  vertex_descriptor getVertexDesc(const Vertex &v_id);

  Vertex getVertex(const vertex_descriptor &desc);

  static IdFactory mapIds;
  vertex_descriptor _origin_vertex;
  vertex_descriptor _current_vertex;
  RobotId _robot_id;
  std::map<Vertex,vertex_descriptor> _vertex_map;
  Graph _graph;
  Transformation _robot_current_pose;

};

} // namespace graphmap
} // namespace jafar

#endif // GRAPHMANAGERABSTRACT_HPP