transform_crawler.h

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#ifndef ED_WORLD_MODEL_TRANSFORM_CRAWLER_H_
#define ED_WORLD_MODEL_TRANSFORM_CRAWLER_H_
 
#include "ed/types.h"
#include "ed/time.h"
#include <geolib/datatypes.h>
 
#include <queue>
#include <set>
 
namespace ed
{
namespace world_model
{
 
class TransformCrawler
{
 
    struct Node
    {
        Node(Idx entity_idx_, const geo::Pose3D& transform_)
            : entity_idx(entity_idx_), transform(transform_) {}
        Idx entity_idx;
        geo::Pose3D transform;
    };
 
public:
 
    TransformCrawler(const WorldModel& wm, const UUID& start_id, const Time& time);
 
    bool next();
 
    bool hasNext() const { return !queue_.empty(); }
 
    const geo::Pose3D& transform() const { return queue_.front().transform; }
 
    const EntityConstPtr& entity() const;
 
private:
 
    const WorldModel& wm_;
 
    Time time_;
 
    std::set<Idx> visited_;
 
    std::queue<Node> queue_;
 
    void pushChildren(const Entity& e, const geo::Pose3D& transform);
 
};
 
} // end namespace world_model
 
} // end namespace ed
 
#endif