GraspModel.h

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#ifndef RAIL_PICK_AND_PLACE_GRASPDB_GRASP_MODEL_H_
#define RAIL_PICK_AND_PLACE_GRASPDB_GRASP_MODEL_H_

// graspdb
#include "Grasp.h"

// ROS
#include <rail_pick_and_place_msgs/GraspModel.h>
#include <sensor_msgs/PointCloud2.h>

// C++ Standard Library
#include <string>
#include <vector>

namespace rail
{
namespace pick_and_place
{
namespace graspdb
{

class GraspModel : public Entity
{
public:
  GraspModel(const uint32_t id = Entity::UNSET_ID, const std::string &object_name = "",
      const std::vector<Grasp> &grasps = std::vector<Grasp>(),
      const sensor_msgs::PointCloud2 &point_cloud = sensor_msgs::PointCloud2(),
      const time_t created = Entity::UNSET_TIME);

  GraspModel(const std::string &object_name, const std::vector<Grasp> &grasps,
      const sensor_msgs::PointCloud2 &point_cloud);

  GraspModel(const rail_pick_and_place_msgs::GraspModel &gm);

  const std::string &getObjectName() const;

  void setObjectName(const std::string &object_name);

  const std::vector<Grasp> &getGrasps() const;

  std::vector<Grasp> &getGrasps();

  size_t getNumGrasps() const;

  const Grasp &getGrasp(const size_t index) const;

  Grasp &getGrasp(const size_t index);

  void addGrasp(const Grasp &grasp);

  void removeGrasp(const size_t index);

  const Grasp &getBestGrasp() const;

  Grasp &getBestGrasp();

  size_t getBestGraspIndex() const;

  double getBestSuccessRate() const;

  const Grasp &getWorstGrasp() const;

  Grasp &getWorstGrasp();

  size_t getWorstGraspIndex() const;

  double getWorstSuccessRate() const;

  const sensor_msgs::PointCloud2 &getPointCloud() const;

  sensor_msgs::PointCloud2 &getPointCloud();

  void setPointCloud(const sensor_msgs::PointCloud2 &point_cloud);

  rail_pick_and_place_msgs::GraspModel toROSGraspModelMessage() const;

private:
  std::string object_name_;
  std::vector<Grasp> grasps_;
  sensor_msgs::PointCloud2 point_cloud_;
};

}
}
}

#endif