TreeFromKF.hpp

#ifndef __TREE_FROM_KF__
#define __TREE_FROM_KF__

#include <ros/ros.h>
#include <ros/package.h>
#include <fstream>
#include <json/json.hpp>
#include <sarafun_msgs/KeyframeMsg.h>

using json = nlohmann::json;
namespace tree_generator {

enum node_type {SEQ=0, SEL, SEQSTAR, SELSTAR, ACTION, CONDITION};

class SubTreeFromKF {
public:
  SubTreeFromKF();
  ~SubTreeFromKF(){}

  bool loadLabel(std::string label);

  /*
    Creates the subtree for the loaded label, adjusting the id's
    based on the given indices. Updates the given indices.

    @param indices Vector of indices that define the number of actions and conditions
    of a given label that have occurred.
    @return A JSON node with the JSON description of the subtree defined by the
    KD label
    @throw logic_error
  */
  json createSubTree(std::vector<int> &indices);

private:
  ros::NodeHandle nh_;
  json subtree_;
  std::ifstream file_;
  bool has_label_;
  std::string current_id_;

  json modifyId(json node, std::vector<int> &indices);
};

class TreeFromKF
{
public:
  TreeFromKF();
  ~TreeFromKF(){}

  json createTree(const std::vector<sarafun_msgs::KeyframeMsg> &keyframes_list);

private:
  std::vector<int> indices_; // to keep track of the id's

  json tree_;
  SubTreeFromKF subtree_parser_;

  void addChildren(const json &tree, std::map<std::string, json> &children_map);
};

void replaceWithUnderscore(std::string &label);
}

#endif