handle.h

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#ifndef HANDLE_H_
#define HANDLE_H_

#include <Eigen/Dense>
#include <iostream>
#include <vector>

#include <agile_grasp/grasp_hypothesis.h>

class Handle
{
public:
        
        Handle(const std::vector<GraspHypothesis>& hand_list, const std::vector<int>& inliers);
        
        const Eigen::Vector3d& getApproach() const
        {
                return approach_;
        }
        
        const Eigen::Vector3d& getAxis() const
        {
                return axis_;
        }

        const Eigen::Vector3d& getCenter() const
        {
                return center_;
        }
        
        const Eigen::Vector3d& getHandsCenter() const
        {
                return hands_center_;
        }
        
        double getWidth() const
        {
                return width_;
        }
        
        const std::vector<GraspHypothesis>& getHandList() const
        {
                return hand_list_;
        }
        
        const std::vector<int>& getInliers() const
        {
                return inliers_;
        }

  const Eigen::Vector3d& getBinormal() const {
    return binormal_;
  }

private:
        
        void setGraspVariables();
        
        void setAxis();

        void setDistAlongHandle();
        
        void setGraspWidth();

        std::vector<int> inliers_; 
        std::vector<GraspHypothesis> hand_list_; 
        Eigen::Vector3d center_; 
        Eigen::Vector3d axis_; 
        Eigen::Vector3d approach_; 
        Eigen::Vector3d binormal_; 
        double width_; 
        Eigen::Vector3d hands_center_; 
        Eigen::VectorXd dist_along_handle_; 
};

#endif /* HANDLE_H_ */