target_object.h
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00001 #ifndef target_object_h___
00002 #define target_object_h___
00003 
00004 #include "../include/contact_point.h"
00005 #include "../include/utilities.h"
00006 #include <string>
00007 #include <iostream>
00008 
00009 namespace ICR
00010 {
00011 //--------------------------------------------------------------------
00012 //--------------------------------------------------------------------
00021 class TargetObject
00022 {
00023 
00024  private:
00025 
00026   std::string name_;
00027   uint num_cp_;
00028   ContactPointList contact_points_;
00029   
00030   //  uint findClosestIdxCore(double x, double y, double z);
00031 
00032  public:
00033 
00034   friend class ObjectLoader;  
00035 
00036   TargetObject();
00037   TargetObject(std::string const& name);
00038   TargetObject(TargetObject const& src);
00039   TargetObject& operator=(TargetObject const& src);
00040   friend std::ostream& operator<<(std::ostream& stream, TargetObject const& obj);
00041   ~TargetObject();
00042  
00043   std::string const getName() const;
00044   void setName(std::string const& name);
00045   uint getNumCp() const;
00046   void reserveCpList(uint num_cp);
00047   //  uint findClosestIdx(double x, double y, double z);
00048   //  uint findClosestIdx(Eigen::Vector3d& pt);
00049   void addContactPoint(ContactPoint const& point);
00053   void scaleObject(double scale);
00054   ContactPoint const* getContactPoint(uint id) const;
00055 };
00056 //--------------------------------------------------------------------
00057 //--------------------------------------------------------------------
00058 }//namespace ICR
00059 #endif


libicr
Author(s): Robert Krug
autogenerated on Mon Jan 6 2014 11:33:44