ompl/control/planners/ltl/World.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_LTL_WORLD_
00038 #define OMPL_CONTROL_PLANNERS_LTL_WORLD_
00039 
00040 #include <boost/unordered_map.hpp>
00041 #include <string>
00042 
00043 namespace ompl
00044 {
00045     namespace control
00046     {
00051         class World
00052         {
00053         public:
00055             World(unsigned int numProps);
00056 
00059             bool operator[](unsigned int i) const;
00060 
00063             bool& operator[](unsigned int i);
00064 
00067             unsigned int numProps(void) const;
00068 
00072             bool satisfies(const World& w) const;
00073 
00076             std::string formula(void) const;
00077 
00080             const boost::unordered_map<unsigned int, bool>& props(void) const;
00081 
00084             bool operator==(const World& w) const;
00085 
00087             void clear(void);
00088 
00090 
00091             friend std::size_t hash_value(const World& w);
00093 
00094         protected:
00095             unsigned int numProps_;
00096             boost::unordered_map<unsigned int, bool> props_;
00097         };
00098     }
00099 }
00100 #endif
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