layer.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   layer.h
 * @brief  Defines flatland Layer
 * @author Chunshang Li
 *
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2017, Avidbots Corp.
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#ifndef FLATLAND_SERVER_LAYER_H
#define FLATLAND_SERVER_LAYER_H

#include <Box2D/Box2D.h>
#include <flatland_server/body.h>
#include <flatland_server/collision_filter_registry.h>
#include <flatland_server/entity.h>
#include <flatland_server/types.h>
#include <yaml-cpp/yaml.h>
#include <opencv2/opencv.hpp>
#include <string>

namespace flatland_server {

class Layer : public Entity {
 public:
  std::vector<std::string> names_;  

  Body *body_ = nullptr;
  CollisionFilterRegistry *cfr_;  
  std::string viz_name_;          

  Layer(b2World *physics_world, CollisionFilterRegistry *cfr,
        const std::vector<std::string> &names, const Color &color,
        const Pose &origin, const cv::Mat &bitmap, double occupied_thresh,
        double resolution, const YAML::Node &properties);

  Layer(b2World *physics_world, CollisionFilterRegistry *cfr,
        const std::vector<std::string> &names, const Color &color,
        const Pose &origin, const std::vector<LineSegment> &line_segments,
        double scale, const YAML::Node &properties);

  Layer(b2World *physics_world, CollisionFilterRegistry *cfr,
        const std::vector<std::string> &names, const Color &color,
        const YAML::Node &properties);

  ~Layer();

  const std::vector<std::string> &GetNames() const;

  const CollisionFilterRegistry *GetCfr() const;

  Body *GetBody();

  EntityType Type() const { return EntityType::LAYER; }

  void LoadFromBitmap(const cv::Mat &bitmap, double occupied_thresh,
                      double resolution);

  void DebugVisualize() const override;

  void DebugOutput() const override;

  static void ReadLineSegmentsFile(const std::string &file_path,
                                   std::vector<LineSegment> &line_segments);

  static Layer *MakeLayer(b2World *physics_world, CollisionFilterRegistry *cfr,
                          const std::string &map_path,
                          const std::vector<std::string> &names,
                          const Color &color, const YAML::Node &properties);
};
};      // namespace flatland_server
#endif  // FLATLAND_SERVER_WORLD_H