connected-component.hh

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//
// Copyright (c) 2015 CNRS
// Authors: Anna Seppala (seppala@laas.fr)
//

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// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
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#ifndef HPP_MANIPULATION_CONNECTED_COMPONENT_HH
#define HPP_MANIPULATION_CONNECTED_COMPONENT_HH

#include <hpp/core/connected-component.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>

namespace hpp {
namespace manipulation {
class HPP_MANIPULATION_DLLAPI ConnectedComponent
 : public core::ConnectedComponent {
 public:
 typedef std::map<graph::StatePtr_t, RoadmapNodes_t> GraphStates_t;

 ConnectedComponent() {}

 static ConnectedComponentPtr_t create(const RoadmapWkPtr_t& roadmap);

 void merge(const core::ConnectedComponentPtr_t& otherCC);

 void addNode(const core::NodePtr_t& node);

 const RoadmapNodes_t& getRoadmapNodes(
 const graph::StatePtr_t graphState) const;

 protected:
 private:
 bool check() const;
 GraphStates_t graphStateMap_;
 // a RoadmapWkPtr_t so that memory can be released ?
 RoadmapWkPtr_t roadmap_;
 static RoadmapNodes_t empty_;

 HPP_SERIALIZABLE();
}; // class ConnectedComponent
} // namespace manipulation
} // namespace hpp
#endif // HPP_MANIPULATION_CONNECTED_COMPONENT_HH