Object.h

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#ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_WORLD_OBJECT_H_
#define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_WORLD_OBJECT_H_

// worldlib
#include "../geometry/Pose.h"

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

namespace rail
{
namespace spatial_temporal_learning
{
namespace worldlib
{
namespace world
{

class Object
{
public:
  Object(const std::string &name = "", const std::string &frame_id = "", const geometry::Pose &pose = geometry::Pose(),
      const double width = 0, const double depth = 0, const double height = 0);

  const std::string &getName() const;

  void setName(const std::string &name);

  const std::string &getFrameID() const;

  void setFrameID(const std::string &frame_id);

  const geometry::Pose &getPose() const;

  geometry::Pose &getPose();

  void setPose(geometry::Pose &pose);

  double getWidth() const;

  void setWidth(const double width);

  double getDepth() const;

  void setDepth(const double depth);

  double getHeight() const;

  void setHeight(const double height);

  const std::vector<std::string> &getAliases() const;

  size_t getNumAliases() const;

  const std::string &getAlias(const size_t index) const;

  void addAlias(const std::string &alias);

  void removeAlias(const size_t index);

  bool checkName(const std::string &name) const;

  geometry::Position fromParentFrame(const geometry::Position &position) const;

  geometry::Pose fromParentFrame(const geometry::Pose &pose) const;

private:
  std::string name_, frame_id_;
  geometry::Pose pose_;
  double width_, depth_, height_;
  std::vector<std::string> aliases_;
};

}
}
}
}

#endif