Observation.h

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#ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_WORLD_OBSERVATION_H_
#define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_WORLD_OBSERVATION_H_

// worldlib
#include "Item.h"
#include "PlacementSurface.h"
#include "Surface.h"
#include "../geometry/Pose.h"

// ROS
#include <ros/time.h>

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

class Observation
{
public:
  Observation(const Item &item = Item(), const Surface &surface = Surface(),
      const geometry::Pose &pose = geometry::Pose(), const ros::Time &time = ros::Time::now(),
      const ros::Time &removed_estimate = ros::Time(0), const ros::Time &removed_observed = ros::Time(0));

  const Item &getItem() const;

  Item &getItem();

  void setItem(const Item &item);

  const Surface &getSurface() const;

  Surface &getSurface();

  void setSurface(const Surface &surface);

  const PlacementSurface &getPlacementSurface() const;

  const geometry::Pose &getPose() const;

  geometry::Pose &getPose();

  void setPose(const geometry::Pose &pose);

  const ros::Time &getTime() const;

  ros::Time &getTime();

  void setTime(const ros::Time &time);

  const ros::Time &getRemovedEstimate() const;

  ros::Time &getRemovedEstimate();

  void setRemovedEstimate(const ros::Time &removed_estimate);

  const ros::Time &getRemovedObserved() const;

  ros::Time &getRemovedObserved();

  void setRemovedObserved(const ros::Time &removed_observed);

private:
  Item item_;
  Surface surface_;
  geometry::Pose pose_;
  ros::Time time_, removed_estimate_, removed_observed_;
};

}
}
}
}

#endif