Map2DPath.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_MAP2DPATH_H
#define YARP_DEV_MAP2DPATH_H
 
#include <vector>
#include <yarp/dev/MapGrid2D.h>
#include <yarp/dev/Map2DLocation.h>
#include <yarp/dev/Map2DPathData.h>
 
namespace yarp::dev::Nav2D {
class YARP_dev_API Map2DPath : public yarp::dev::Map2DPathData
{
public:
    Map2DPath(const std::vector<yarp::dev::Nav2D::Map2DLocation>& map_waypoints, const std::string& desc = "");
 
    Map2DPath();
 
    std::string toString() const;
 
    bool operator!=(const Map2DPath& r) const;
 
    bool operator==(const Map2DPath& r) const;
 
    yarp::dev::Nav2D::Map2DLocation& operator[](size_t index);
 
    size_t size() const;
 
    double getLength() const;
 
    bool isOnSingleMap() const;
 
public:
    bool read(yarp::os::idl::WireReader& reader) override
    {
        return Map2DPathData::read(reader);
    }
    bool write(const yarp::os::idl::WireWriter& writer) const override
    {
        return Map2DPathData::write(writer);
    }
    bool read(yarp::os::ConnectionReader& reader) override
    {
        return Map2DPathData::read(reader);
    }
    bool write(yarp::os::ConnectionWriter& writer) const override
    {
        return Map2DPathData::write(writer);
    }
 
public:
    void clear();
 
    using iterator = std::vector<Map2DLocation>::iterator;
    using const_iterator = std::vector<Map2DLocation>::const_iterator;
 
    iterator begin() noexcept;
 
    iterator end() noexcept;
 
    const_iterator cbegin() const noexcept;
 
    const_iterator cend() const noexcept;
 
    void push_back(yarp::dev::Nav2D::Map2DLocation loc);
};
} // namespace yarp::dev::Nav2D
 
#endif