grasp_hypothesis.h

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#ifndef GRASP_HYPOTHESIS_H_
#define GRASP_HYPOTHESIS_H_

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

class GraspHypothesis
{
public:

        GraspHypothesis() : cam_source_(-1) {}

        GraspHypothesis(const Eigen::Vector3d& axis, const Eigen::Vector3d& approach,
                const Eigen::Vector3d& binormal, const Eigen::Vector3d& bottom, const Eigen::Vector3d& surface,
                double width, const Eigen::Matrix3Xd& points_for_learning, const std::vector<int>& indices_cam1,
                const std::vector<int>& indices_cam2, int cam_source) :
                        axis_(axis), approach_(approach), binormal_(binormal), grasp_bottom_(bottom), grasp_surface_(surface),
                                grasp_width_(width), points_for_learning_(points_for_learning),
                                indices_points_for_learning_cam1_(indices_cam1), indices_points_for_learning_cam2_(indices_cam2),
                                cam_source_(cam_source), half_antipodal_(false), full_antipodal_(false)
        {       }
        
        void print();
        
        const Eigen::Vector3d& getApproach() const
        {
                return approach_;
        }
        
        const Eigen::Vector3d& getAxis() const
        {
                return axis_;
        }
        
        const Eigen::Vector3d& getBinormal() const
        {
                return binormal_;
        }
        
        bool isFullAntipodal() const
        {
                return full_antipodal_;
        }
        
        const Eigen::Vector3d& getGraspBottom() const
        {
                return grasp_bottom_;
        }

        const Eigen::Vector3d& getGraspSurface() const
        {
                return grasp_surface_;
        }
        
        double getGraspWidth() const
        {
                return grasp_width_;
        }
        
        bool isHalfAntipodal() const
        {
                return half_antipodal_;
        }
        
        const std::vector<int>& getIndicesPointsForLearningCam1() const
        {
                return indices_points_for_learning_cam1_;
        }
        
        const std::vector<int>& getIndicesPointsForLearningCam2() const
        {
                return indices_points_for_learning_cam2_;
        }
        
        const Eigen::Matrix3Xd& getPointsForLearning() const
        {
                return points_for_learning_;
        }
        
        int getCamSource() const
        {
                return cam_source_;
        }

        void setFullAntipodal(bool b)
        {
                full_antipodal_ = b;
        }
        
        void setHalfAntipodal(bool b)
        {
                half_antipodal_ = b;
        }
        
        void setGraspWidth(double w)
        {
                grasp_width_ = w;
        }

private:

        int cam_source_; 
        Eigen::Matrix3Xd points_for_learning_; 
        std::vector<int> indices_points_for_learning_cam1_; 
        std::vector<int> indices_points_for_learning_cam2_; 
        Eigen::Vector3d axis_; 
        Eigen::Vector3d approach_; 
        Eigen::Vector3d binormal_; 
        Eigen::Vector3d grasp_bottom_; 
        Eigen::Vector3d grasp_surface_; 
        double grasp_width_; 
        bool full_antipodal_; 
        bool half_antipodal_; 
};

#endif /* GRASP_HYPOTHESIS_H_ */