src/client/proxies/OccupancyGrid3DProxy.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_3D_PROXY_HH_INCLUDED
#define PEEKABOT_CLIENT_OCCUPANCY_GRID_3D_PROXY_HH_INCLUDED


#include "ObjectProxy.hh"

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


namespace peekabot
{
    namespace client
    {
        class PEEKABOT_API OccupancySet3D
        {
            friend class OccupancyGrid3DProxyBase;

        public:
            OccupancySet3D();

            OccupancySet3D(const OccupancySet3D &other);

            ~OccupancySet3D();

            OccupancySet3D &operator=(const OccupancySet3D &other);

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

            void clear();

            std::size_t size() const;

            bool empty() const;

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

        class PEEKABOT_API OccupancyGrid3DProxyBase : public ObjectProxyBase
        {
        public:
            OccupancyGrid3DProxyBase();

            OccupancyGrid3DProxyBase(OccupancyGrid3DProxyBase &p);

            DelayedDispatch set_cells(const OccupancySet3D &cells);

            DelayedDispatch enable_color_mapping(float z_min, float z_max);

            DelayedDispatch disable_color_mapping();
        };


        class PEEKABOT_API OccupancyGrid3DProxy :
            public OccupancyGrid3DProxyBase
        {
        public:
            OccupancyGrid3DProxy();

            OccupancyGrid3DProxy(OccupancyGrid3DProxy &p);

            OccupancyGrid3DProxy &operator=(const OccupancyGrid3DProxy &p);

            OccupancyGrid3DProxy &operator=(const OccupancyGrid3DProxyBase &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_xy_size, float cell_z_size,
                NameConflictPolicy conflict_policy = AUTO_ENUMERATE_ON_CONFLICT);

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


#endif // PEEKABOT_CLIENT_OCCUPANCY_GRID_3D_PROXY_HH_INCLUDED