RobotGroup.h

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#ifndef PMPL_ROBOT_GROUP_H_
#define PMPL_ROBOT_GROUP_H_
 
#include <iostream>
#include <string>
#include <vector>
#include <unordered_map>
 
class MPProblem;
class Robot;
class XMLNode;
 
 
class RobotGroup final {
 
  public:
 
 
    typedef std::vector<Robot*>::iterator       iterator;
    typedef std::vector<Robot*>::const_iterator const_iterator;
 
 
    RobotGroup(MPProblem* const _problem, const std::string& _label,
        const std::vector<Robot*>& _robots);
 
    RobotGroup(MPProblem* const _problem, XMLNode& _node);
 
 
    std::string GetLabel() const noexcept;
 
    Robot* GetRobot(const size_t _index) const noexcept;
 
    Robot* GetRobot(const std::string& _label) const noexcept;
 
    const std::vector<Robot*>& GetRobots() const noexcept;
 
    size_t GetGroupIndex(Robot* const _robot) const noexcept;
 
    bool VerifyRobotInGroup(Robot* const _robot) const noexcept;
 
    size_t Size() const noexcept;
 
    size_t TotalDofs() const noexcept;
 
 
    iterator begin() noexcept;
    iterator end() noexcept;
 
    const_iterator begin() const noexcept;
    const_iterator end() const noexcept;
 
 
  private:
 
 
    MPProblem* const m_problem;   
    std::string m_label;          
 
    std::vector<Robot*> m_robots; 
    std::unordered_map<Robot*, size_t> m_indexes; 
 
 
};
 
/*----------------------------------- Debug ----------------------------------*/
 
std::ostream& operator<<(std::ostream&, const RobotGroup&);
 
/*----------------------------------------------------------------------------*/
 
#endif