InteractionInformation.h

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#ifndef INTERACTION_INFORMATION_H_
#define INTERACTION_INFORMATION_H_
 
#include <memory>
#include <string>
#include <vector>
 
#include "MPTask.h"
#include "MPProblem.h"
#include "ConfigurationSpace/Cfg.h"
#include "ConfigurationSpace/GenericStateGraph.h"
#include "MPLibrary/MPBaseObject.h"
#include "Utilities/XMLNode.h"
#include "ConfigurationSpace/Cfg.h"
#include "ConfigurationSpace/Weight.h"
#include "Geometry/Boundaries/WorkspaceBoundingBox.h"
 
class InteractionInformation {
 
  public:
 
    InteractionInformation(MPProblem* _problem, XMLNode& _node);
 
 
 
    std::string GetLabel() const;
 
    size_t GetMaxAttempts() const;
 
    MPProblem* GetMPProblem() const;
 
    std::vector<std::shared_ptr<MPTask>>& GetInteractionTasks();
 
        std::vector<std::shared_ptr<MPTask>>& GetTypeTasks(const std::string& _s);
 
    double GetInteractionWeight() const;
 
    void AddTemplateLocation(Cfg _location);
 
    std::vector<Cfg>& GetTemplateLocations();
 
    std::vector<Cfg> GetInteractionPositions();
 
    std::vector<std::pair<Cfg,Cfg>> GetInteractionPositionPairs();
 
    std::vector<std::vector<Cfg>> GetInteractionPaths();
 
    std::vector<Cfg> GetInteractionPosition(std::string _capability);
 
    std::vector<std::vector<Cfg>> GetInteractionPath(std::string _capability);
 
    bool SavedPaths();
 
    Environment* GetInteractionEnvironment();
 
 
  protected:
 
    MPProblem* m_problem{nullptr}; 
 
    std::vector<std::shared_ptr<MPTask>> m_tasks;
 
        std::unordered_map<std::string,std::vector<std::shared_ptr<MPTask>>> m_taskType;
 
    std::string m_label;
 
    size_t m_maxAttempts;
 
    double m_interactionWeight{0};
 
    std::vector<Cfg> m_handoffLocations;
 
    std::unique_ptr<Environment> m_interactionEnvironment;
 
    bool m_savePaths;
};
#endif