.. _program_listing_file_src_tap_control_command_mapping.hpp:

Program Listing for File command_mapping.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_command_mapping.hpp>` (``src/tap/control/command_mapping.hpp``)

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

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_COMMAND_MAPPING_HPP_
   #define TAPROOT_COMMAND_MAPPING_HPP_
   
   #include <vector>
   
   #include "remote_map_state.hpp"
   
   namespace tap
   {
   namespace control
   {
   class Command;
   class CommandMapping
   {
   public:
       CommandMapping(Drivers *drivers, const std::vector<Command *> cmds, const RemoteMapState &rms);
   
       DISALLOW_COPY_AND_ASSIGN(CommandMapping)
   
       
       friend bool operator==(const CommandMapping &cm1, const CommandMapping &cm2);
   
       friend bool mapStateEqual(const CommandMapping &cm1, const CommandMapping &cm2);
   
       virtual ~CommandMapping() = default;
   
       virtual void executeCommandMapping(const RemoteMapState &currState) = 0;
   
       virtual bool mappingSubset(const RemoteMapState &mapState);
   
       static inline bool negKeysSubset(const RemoteMapState &state1, const RemoteMapState &state2)
       {
           return state1.getNegKeys() == (state1.getNegKeys() & state2.getKeys());
       }
   
       const RemoteMapState &getAssociatedRemoteMapState() const { return mapState; }
   
       const std::vector<Command *> &getAssociatedCommands() const { return mappedCommands; }
   
   protected:
       const RemoteMapState mapState;
   
       std::vector<Command *> mappedCommands;
   
       Drivers *drivers;
   
       void addCommands();
   
       void removeCommands();
   
       bool noCommandsScheduled() const;
   };  // class CommandMapping
   }  // namespace control
   }  // namespace tap
   
   #endif  // TAPROOT_COMMAND_MAPPING_HPP_