src/client/proxies/OccupancyGrid2DProxy.hh

/*
 * Copyright Staffan Gimåker 2008-2010.
 *
 * ---
 *
 * Distributed under the Boost Software License, Version 1.0.
 * (See accompanying file LICENSE_1_0.txt or copy at
 * http://www.boost.org/LICENSE_1_0.txt)
 */

#ifndef PEEKABOT_CLIENT_OCCUPANCY_GRID_2D_PROXY_HH_INCLUDED
#define PEEKABOT_CLIENT_OCCUPANCY_GRID_2D_PROXY_HH_INCLUDED


#include "ObjectProxy.hh"
#include "../../Deprecated.hh"

#include <cstddef>
#include <boost/scoped_ptr.hpp>


namespace peekabot
{
    namespace client
    {
        class PEEKABOT_API OccupancySet2D
        {
            friend class OccupancyGrid2DProxyBase;

        public:
            OccupancySet2D();

            OccupancySet2D(const OccupancySet2D &other);

            ~OccupancySet2D();

            OccupancySet2D &operator=(const OccupancySet2D &other);

            void add(float x, float y, float belief);

            void set_cell(float x, float y, float belief) PEEKABOT_DEPRECATED;

            void clear();

            std::size_t size() const;

            bool empty() const;

        private:
            class Impl;
            boost::scoped_ptr<Impl> m_impl;
        };

        class PEEKABOT_API OccupancyGrid2DProxyBase : public ObjectProxyBase
        {
        public:
            OccupancyGrid2DProxyBase();

            OccupancyGrid2DProxyBase(OccupancyGrid2DProxyBase &p);

            DelayedDispatch set_cells(const OccupancySet2D &cells);

            DelayedDispatch set_unoccupied_color(float r, float g, float b);

            DelayedDispatch set_occupied_color(float r, float g, float b);
        };


        class PEEKABOT_API OccupancyGrid2DProxy :
            public OccupancyGrid2DProxyBase
        {
        public:
            OccupancyGrid2DProxy();

            OccupancyGrid2DProxy(OccupancyGrid2DProxy &p);

            OccupancyGrid2DProxy &operator=(const OccupancyGrid2DProxy &p);

            OccupancyGrid2DProxy &operator=(const OccupancyGrid2DProxyBase &p);

            DelayedDispatch assign(const ObjectProxyBase &p);

            DelayedDispatch assign(
                PeekabotClient &client,
                const std::string &path);

            DelayedDispatch assign(
                const ObjectProxyBase &parent,
                const std::string &rel_path);

            DelayedDispatch add(
                PeekabotClient &client,
                const std::string &path,
                float cell_size,
                NameConflictPolicy conflict_policy = AUTO_ENUMERATE_ON_CONFLICT);

            DelayedDispatch add(
                const ObjectProxyBase &parent,
                const std::string &name,
                float cell_size,
                NameConflictPolicy conflict_policy = AUTO_ENUMERATE_ON_CONFLICT);

            DelayedDispatch add(
                PeekabotClient &client,
                const std::string &path,
                float cell_size,
                float unoccupied_r, float unoccupied_g, float unoccupied_b,
                float occupied_r, float occupied_g, float occupied_b,
                NameConflictPolicy conflict_policy = AUTO_ENUMERATE_ON_CONFLICT)
                PEEKABOT_DEPRECATED;

            DelayedDispatch add(
                const ObjectProxyBase &parent,
                const std::string &name,
                float cell_size,
                float unoccupied_r, float unoccupied_g, float unoccupied_b,
                float occupied_r, float occupied_g, float occupied_b,
                NameConflictPolicy conflict_policy = AUTO_ENUMERATE_ON_CONFLICT)
                PEEKABOT_DEPRECATED;
        };
    }
}


#endif // PEEKABOT_CLIENT_OCCUPANCY_GRID_2D_PROXY_HH_INCLUDED