gcc_pure
OrderedTaskPoint &GetPoint(const unsigned i) {
assert(i < task_points.size());
assert(task_points[i] != nullptr);
return *task_points[i];
}
gcc_pure
const OrderedTaskPoint &GetPoint(const unsigned i) const {
assert(i < task_points.size());
assert(task_points[i] != NULL);
return *task_points[i];
}
void
OrderedTask::CheckDuplicateWaypoints(Waypoints& waypoints,
OrderedTaskPointVector& points,
const bool is_task)
{
for (auto begin = points.cbegin(), end = points.cend(), i = begin;
i != end; ++i) {
auto wp = waypoints.CheckExistsOrAppend((*i)->GetWaypointPtr());
const OrderedTaskPoint *new_tp =
(*i)->Clone(task_behaviour, ordered_settings, std::move(wp));
if (is_task)
Replace(*new_tp, std::distance(begin, i));
else
ReplaceOptionalStart(*new_tp, std::distance(begin, i));
delete new_tp;
}
}
/* virtual methods from class TaskInterface */
virtual unsigned TaskSize() const override {
return task_points.size();
}
/**
* returns optional start point
*
* @param pos optional start point index
* @return NULL if index out of range, else optional start point
*/
gcc_pure
const OrderedTaskPoint &GetOptionalStartPoint(unsigned i) const {
assert(i < optional_start_points.size());
return *optional_start_points[i];
}
/**
* @return number of optional start poitns
*/
gcc_pure
unsigned GetOptionalStartPointCount() const {
return optional_start_points.size();
}
/**
* Check whether the task point with the specified index exists.
*/
gcc_pure
bool IsValidIndex(unsigned i) const {
return i < task_points.size();
}
/**
* Returns true if there are optional start points.
*/
gcc_pure
bool HasOptionalStarts() const {
return !optional_start_points.empty();
}
/**
* Retrieve task point by sequence index
*
* @param index Index of task point sequence
*
* @return OrderedTaskPoint at index
*/
gcc_pure
const OrderedTaskPoint &GetTaskPoint(const unsigned index) const {
assert(index < task_points.size());
return *task_points[index];
}
/**
* @return number of optional start poitns
*/
gcc_pure
unsigned optional_start_points_size() { return optional_start_points.size(); }