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