ObjectIndexBinding.hh

// Copyright QED Software 2023.
 
#ifndef GRAIL_OBJECT_INDEX_BINDING_H
#define GRAIL_OBJECT_INDEX_BINDING_H
 
#include "IPlannerObject.hh"
 
namespace grail
{
namespace planner
{
    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