entity_manager.h

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#ifndef TESSERACT_VISUALIZATION_IGNITION_ENTITY_MANAGER_H
#define TESSERACT_VISUALIZATION_IGNITION_ENTITY_MANAGER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <string>
#include <unordered_map>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
namespace tesseract_visualization
{
static const int NULL_ENTITY_ID = -1;
using EntityID = int;
using EntityMap = std::unordered_map<std::string, EntityID>;
 
class EntityManager
{
public:
  EntityID addModel(const std::string& name);
 
  EntityID getModel(const std::string& name) const;
 
  const EntityMap& getModels() const;
 
  EntityID addLink(const std::string& name);
 
  EntityID getLink(const std::string& name) const;
 
  const EntityMap& getLinks() const;
 
  EntityID addVisual(const std::string& name);
 
  EntityID getVisual(const std::string& name) const;
 
  const EntityMap& getVisuals() const;
 
  EntityID addSensor(const std::string& name);
 
  EntityID getSensor(const std::string& name) const;
 
  const EntityMap& getSensors() const;
 
  bool empty() const;
 
  void clear();
 
private:
  EntityMap link_id_map_;           
  EntityMap model_id_map_;          
  EntityMap visual_id_map_;         
  EntityMap sensor_id_map_;         
  EntityID entity_counter_{ 1000 }; 
};
}  // namespace tesseract_visualization
 
#endif  // TESSERACT_VISUALIZATION_IGNITION_ENTITY_MANAGER_H