World.hpp

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#ifndef AIKIDO_PLANNER_WORLD_HPP_
#define AIKIDO_PLANNER_WORLD_HPP_
 
#include <string>
#include <unordered_map>
 
#include <dart/dart.hpp>
 
#include "aikido/common/pointers.hpp"
 
namespace aikido {
namespace planner {
 
AIKIDO_DECLARE_POINTERS(World)
 
class World
{
public:
  // Encapsulates the state of the World.
  struct State
  {
    std::unordered_map<std::string, dart::dynamics::Skeleton::Configuration>
        configurations;
 
    bool operator==(const State& other) const;
 
    bool operator!=(const State& other) const;
  };
 
  explicit World(const std::string& name = "");
 
  virtual ~World();
 
  static std::unique_ptr<World> create(const std::string& name = "");
 
  std::unique_ptr<World> clone(const std::string& newName = "") const;
 
  std::string setName(const std::string& newName);
 
  const std::string& getName() const;
 
  dart::dynamics::SkeletonPtr getSkeleton(std::size_t i) const;
 
  dart::dynamics::SkeletonPtr getSkeleton(const std::string& name) const;
 
  bool hasSkeleton(const dart::dynamics::SkeletonPtr& skel) const;
 
  std::size_t getNumSkeletons() const;
 
  std::string addSkeleton(const dart::dynamics::SkeletonPtr& skeleton);
 
  void removeSkeleton(const dart::dynamics::SkeletonPtr& skeleton);
 
  // TODO: Add methods for registering callbacks?
 
  std::mutex& getMutex() const;
 
  World::State getState() const;
 
  World::State getState(const std::vector<std::string>& names) const;
 
  void setState(const World::State& state);
 
  void setState(
      const World::State& state, const std::vector<std::string>& names);
 
protected:
  std::string mName;
 
  std::vector<dart::dynamics::SkeletonPtr> mSkeletons;
 
  mutable std::mutex mMutex;
 
  static dart::common::NameManager<World*> mWorldNameManager;
 
  dart::common::NameManager<dart::dynamics::SkeletonPtr> mSkeletonNameManager;
};
 
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_WORLD_HPP_