World.h

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/* Author: Matt Maly */

#ifndef OMPL_CONTROL_PLANNERS_LTL_WORLD_
#define OMPL_CONTROL_PLANNERS_LTL_WORLD_

#include <unordered_map>
#include <string>

namespace ompl
{
    namespace control
    {
        class World;
    }
}


namespace std
{
    template<>
    struct hash<ompl::control::World>
    {
        size_t operator()(const ompl::control::World &w) const;
    };
}

namespace ompl
{
    namespace control
    {
        class World
        {
        public:
            World(unsigned int numProps);

            bool operator[](unsigned int i) const;

            bool& operator[](unsigned int i);

            unsigned int numProps(void) const;

            bool satisfies(const World& w) const;

            std::string formula(void) const;

            const std::unordered_map<unsigned int, bool>& props(void) const;

            bool operator==(const World& w) const;

            void clear(void);

            friend struct std::hash<World>;

        protected:
            unsigned int numProps_;
            std::unordered_map<unsigned int, bool> props_;
        };
    }
}
#endif