node.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_MANAGER_NODE
#define YARP_MANAGER_NODE
 
#include <iostream>
#include <vector>
#include <string>
 
#include <yarp/manager/ymm-types.h>
 
 
namespace yarp {
namespace manager {
 
class Node;
class Link;
 
typedef std::vector<Link> LinkContainer;
typedef std::vector<Link>::iterator LinkIterator;
 
class GraphicModel {
 
public:
    GraphicModel() = default;
    virtual ~GraphicModel() = default;
    std::vector<GyPoint> points;
};
 
 
 
class Link {
 
public:
    Link(Node* to, float weight, bool virtualLink=false) {
         fWeight = weight;
         connectTo = to;
         bVirtual = virtualLink;
         }
    virtual ~Link(){}
    Node* to() { return connectTo; }
    void setWeight(float w) { fWeight = w; }
    float weight() { return fWeight; }
    void setVirtual(bool virtualLink) { bVirtual = virtualLink;}
    bool isVirtual(){ return bVirtual; }
protected:
 
private:
    bool bVirtual;
    float fWeight;
    Node* connectTo;
};
 
 
 
class Node {
 
public:
    Node(NodeType _type){
        type = _type;
        bSatisfied = false;
        bVisited = false;
        model = nullptr;
    }
    Node(NodeType _type, const char* szLabel ){
        type = _type;
        bSatisfied = false;
        bVisited = false;
        model = nullptr;
        if(szLabel) { label = szLabel; }
    }
 
    virtual ~Node() { model = nullptr; }
 
    void setSatisfied(bool sat) { bSatisfied = sat; }
    bool isSatisfied() { return bSatisfied; }
    void setVisited(bool vis) { bVisited = vis; }
    bool isVisited() { return bVisited; }
    bool isLeaf() {
        return ((sucCount()==0) ? true : false);
    }
 
    NodeType getType() { return type; }
    void setLabel(const char* szLabel) { if(szLabel) { label = szLabel; } }
    const char* getLabel() { return label.c_str(); }
    int sucCount() { return static_cast<int>(sucessors.size()); }
    Link &getLinkAt(int index) { return sucessors[index]; }
 
 
    bool addSuc(Node* node, float weight, bool _virtual=false);
    bool removeSuc(Node* node);
    void removeAllSuc();
    bool hasSuc(Node* node);
    virtual Node* clone() = 0;
 
    GraphicModel* getModel() { return model;}
    void setModel(GraphicModel* mdl) { model = mdl; };
 
 
protected:
 
private:
    LinkIterator findSuc(Node* node);
    LinkContainer sucessors;
    bool bSatisfied;
    bool bVisited;
    NodeType type;
    std::string label;
    GraphicModel* model;
};
 
typedef std::vector<Node*> NodePVector;
typedef std::vector<Node*>::iterator NodePVIterator;
 
} // namespace yarp
} // namespace manager
 
 
#endif // __YARP_MANAGER_NODE_