collision_filter_registry.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   collision_filter_registry.h
 * @brief  Defines Collision Filter Registrar
 * @author   Chunshang Li
 *
 * Software License Agreement (BSD License)
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#ifndef FLATLAND_SERVER_COLLISION_FILTER_REGISTRY_H
#define FLATLAND_SERVER_COLLISION_FILTER_REGISTRY_H

#include <map>
#include <string>
#include <vector>

namespace flatland_server {

class CollisionFilterRegistry {
 public:
  static const int LAYER_NOT_EXIST = -1;      
  static const int LAYER_ALREADY_EXIST = -2;  
  static const int LAYERS_FULL = -3;          
  static const int MAX_LAYERS = 16;  

  int no_collide_group_cnt_;
  int collide_group_cnt_;
  std::map<std::string, int> layer_id_table_;  

  CollisionFilterRegistry();

  int RegisterCollide();

  int RegisterNoCollide();

  bool IsLayersFull() const;

  int RegisterLayer(std::string layer);

  int LookUpLayerId(std::string name) const;

  std::vector<std::string> GetAllLayers() const;

  int LayersCount() const;

  uint16_t GetCategoryBits(
      const std::vector<std::string> &layers,
      std::vector<std::string> *invalid_layers = nullptr) const;
};
};      // namespace flatland_server
#endif  // FLATLAND_SERVER_COLLISION_FILTER_REGISTRY_H