.. _program_listing_file_include_reach_interfaces_display.h:

Program Listing for File display.h
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_reach_interfaces_display.h>` (``include/reach/interfaces/display.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2019 Southwest Research Institute
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    */
   #ifndef reach_INTERFACES_DISPLAY_H
   #define reach_INTERFACES_DISPLAY_H
   
   #include <reach/types.h>
   
   #include <memory>
   
   namespace YAML
   {
   class Node;
   }
   
   #ifdef BUILD_PYTHON
   namespace boost
   {
   namespace python
   {
   class dict;
   }  // namespace python
   }  // namespace boost
   #endif
   
   namespace reach
   {
   struct Display
   {
     using Ptr = std::shared_ptr<Display>;
     using ConstPtr = std::shared_ptr<const Display>;
   
     Display() = default;
     virtual ~Display() = default;
   
     virtual void showEnvironment() const = 0;
   
     virtual void updateRobotPose(const std::map<std::string, double>& pose) const = 0;
   
     virtual void showReachNeighborhood(const std::map<std::size_t, ReachRecord>& neighborhood) const = 0;
   
     virtual void showResults(const ReachResult& db) const = 0;
   
   #ifdef BUILD_PYTHON
     void updateRobotPose(const boost::python::dict&) const;
   #endif
   };
   
   struct DisplayFactory
   {
     using Ptr = std::shared_ptr<DisplayFactory>;
     using ConstPtr = std::shared_ptr<const DisplayFactory>;
   
     DisplayFactory() = default;
     virtual ~DisplayFactory() = default;
   
     virtual Display::ConstPtr create(const YAML::Node& config) const = 0;
   
     static std::string getSection()
     {
       return DISPLAY_SECTION;
     }
   
   #ifdef BUILD_PYTHON
     Display::ConstPtr create(const boost::python::dict& pyyaml_config) const;
   #endif
   };
   
   }  // namespace reach
   
   #endif  // reach_INTERFACES_DISPLAY_H