ObjectIndexBinding.hh

#ifndef GRAIL_OBJECT_INDEX_BINDING_H
#define GRAIL_OBJECT_INDEX_BINDING_H
 
#include "IPlannerObject.hh"
 
 
namespace grail
{
 namespace planning
 {
 class ObjectIndexBinding
 {
 friend class DomainTranslator;
 
 public:
 bool TryGetIndexOfObject(const IPlannerObject* object, unsigned int& outIndex) const;
 
 template<class ObjectClass>
 ObjectClass* GetObjectByIndex(unsigned int index) const
 {
 auto iter = indexToObjectBinding.find(index);
 if (iter == indexToObjectBinding.end())
 {
 return nullptr;
 }
 return static_cast<ObjectClass*>(iter->second);
 }
 
 private:
 ObjectIndexBinding();
 void CreateBinding(const std::vector<IPlannerObject*>& plannerObjects);
 
 std::map<const IPlannerObject*, unsigned int> objectToIndexBinding{};
 std::map<unsigned int, IPlannerObject*> indexToObjectBinding{};
 };
 }
}
#endif //GRAIL_OBJECT_INDEX_BINDING_H