TransitionMap.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/fsm/StateFactory.h>
#include <mc_control/fsm/Transition.h>
 
#include <map>
#include <string>
#include <unordered_set>
 
namespace mc_control
{
 
namespace fsm
{
 
struct MC_CONTROL_FSM_DLLAPI TransitionMap
{
  using origin_t = std::pair<std::string, std::string>;
 
  std::pair<bool, Transition> transition(const std::string & state, const std::string & output) const;
 
  std::unordered_set<std::string> transitions(const std::string & state) const;
 
  void init(const StateFactory & factory, const mc_rtc::Configuration & config);
 
  const std::string & initState() const;
 
  std::ostream & print(std::ostream & os) const;
 
private:
  std::string init_state_;
  std::map<origin_t, Transition> map_;
};
 
} // namespace fsm
 
} // namespace mc_control