GroupTask.h

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#ifndef PMPL_GROUP_TASK_H_
#define PMPL_GROUP_TASK_H_
 
#include "MPProblem/MPTask.h"
 
#include "nonstd/status.h"
 
#include "ConfigurationSpace/GenericStateGraph.h"
#include "ConfigurationSpace/Cfg.h"
#include "ConfigurationSpace/Weight.h"
#include "ConfigurationSpace/GroupCfg.h"
 
#include <map>
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
 
class Boundary;
class Constraint;
class MPProblem;
class Robot;
class RobotGroup;
class XMLNode;
 
 
class GroupTask {
 
  public:
 
 
    typedef std::vector<MPTask>     TaskSet;
 
    typedef GenericStateGraph<Cfg, DefaultWeight<Cfg>> IndividualRoadmap;
    typedef GroupCfg<IndividualRoadmap> GroupCfgType;
 
    typedef TaskSet::iterator       iterator;
    typedef TaskSet::const_iterator const_iterator;
 
 
    explicit GroupTask(RobotGroup* const _robotGroup);
 
    explicit GroupTask(MPProblem* const _problem, XMLNode& _node);
 
    virtual ~GroupTask();
 
    static std::unique_ptr<GroupTask> Factory(MPProblem* const _problem,
        XMLNode& _node);
 
 
    RobotGroup* GetRobotGroup() const noexcept;
 
    void SetRobotGroup(RobotGroup* const _r);
 
    const std::string& GetLabel() const noexcept;
 
    void SetLabel(const std::string& _label) noexcept;
 
    size_t Size() const noexcept;
 
    bool Empty() const noexcept;
 
    nonstd::status& GetStatus() noexcept;
    const nonstd::status& GetStatus() const noexcept;
 
 
    size_t GetNumGoals() const noexcept;
 
    void AddTask(const MPTask& _t);
 
    iterator RemoveTask(iterator _iter);
 
    iterator begin() noexcept;
    iterator end() noexcept;
 
    const_iterator begin() const noexcept;
    const_iterator end() const noexcept;
 
 
    void GetStartConstraintCenter(GroupCfgType& _center) const noexcept;
 
 
    bool EvaluateStartConstraints(const GroupCfgType& _cfg) const;
 
    bool EvaluatePathConstraints(const GroupCfgType& _cfg) const;
 
    bool EvaluateGoalConstraints(const GroupCfgType& _cfg) const;
 
    bool EvaluateGoalConstraints(const GroupCfgType& _cfg, const size_t _index) const;
 
 
    RobotGroup* GetEndEffectorGroup() const noexcept;
 
    RobotGroup* GetManipulatorGroup() const noexcept;
 
    Robot* GetEndEffectorRobot();
 
    Robot* GetManipulatorRobot();
 
 
  private:
 
 
    RobotGroup* m_group{nullptr}; 
 
    std::string m_label;          
    nonstd::status m_status;      
 
    TaskSet m_individualTasks;    
 
 
    // Used in disassembly planning, this group should contain the assembly
    // along with the manipulator's end effector. Duplicates a little bit of
    // data, but allows us to most extensibly use group path/cfg output.
    RobotGroup* m_endEffectorGroup{nullptr}; 
 
    // Used in disassembly planning, this group should contain the group along
    // with the manipulator. Duplicates a little bit of data, but allows us to
    // most extensibly use group path/cfg output.
    RobotGroup* m_manipulatorGroup{nullptr}; 
 
 
};
 
#endif