Decomposition.h

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#ifndef PPL_DECOMPOSITION_H_
#define PPL_DECOMPOSITION_H_
 
#include "SemanticTask.h"
#include "SubtaskFlow.h"
 
class MPProblem;
 
class Decomposition {
 
    public:
 
 
        Decomposition();
 
        Decomposition(std::shared_ptr<SemanticTask> _mainTask);
    
        Decomposition(XMLNode& _node, MPProblem* _problem);
 
        ~Decomposition();
 
        
        const std::string GetLabel() const;
 
        Robot* GetCoordinator() const;
 
        void SetCoordinator(Robot* _robot);
    
        SemanticTask* GetRootTask();
    
        void SetRootTask(SemanticTask* _task);
 
        void AddTask(std::shared_ptr<SemanticTask> _task);
 
        SemanticTask* GetTask(std::string _label);
 
        std::vector<SemanticTask*>& GetMotionTasks();
 
        std::vector<SemanticTask*>& GetGroupMotionTasks();
 
        void AddMotionTask(SemanticTask* _task);
 
        void AddGroupMotionTask(SemanticTask* _task);
 
        const std::unordered_map<std::string,std::shared_ptr<
                               SemanticTask>>& GetTaskMap() const;
 
    void SetComplete(bool _complete=true);
 
    bool IsComplete();
 
        
    private:
 
        void ParseTask(XMLNode& _node, MPProblem* _problem);
 
 
        std::unordered_map<std::string,std::shared_ptr<
                        SemanticTask>> m_taskMap;
 
        std::vector<SemanticTask*> m_motionTasks;
 
        std::vector<SemanticTask*> m_groupMotionTasks;
 
        SemanticTask*   m_rootTask;
 
        std::string m_label;
 
        Robot* m_coordinator;
 
    bool m_complete{false};
 
    std::unique_ptr<SubtaskFlow> m_subtaskFlow;
 
};
#endif