DetectedObject.hpp

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#ifndef AIKIDO_PERCEPTION_DETECTEDOBJECT_HPP_
#define AIKIDO_PERCEPTION_DETECTEDOBJECT_HPP_
 
#include <string>
 
#include <dart/dart.hpp>
 
#include "aikido/io/yaml.hpp"
 
namespace aikido {
namespace perception {
 
 
 
 
 
class DetectedObject
{
public:
  DetectedObject() = default;
 
  DetectedObject(
      const std::string& objectName,
      const int& objectId,
      const std::string& detectionFrameID,
      const std::string& yamlStr);
 
  virtual ~DetectedObject() = default;
 
  std::string getUid() const;
 
  std::string getAssetKey() const;
 
  std::string getDetectionFrameID() const;
 
  std::string getName() const;
 
  YAML::Node getYamlNode() const;
 
  dart::dynamics::MetaSkeletonPtr getMetaSkeleton() const;
 
  void setMetaSkeleton(const dart::dynamics::MetaSkeletonPtr& metaSkeleton);
 
  template <typename T>
  T getInfoByKey(const std::string& key) const;
 
private:
  std::string mObjectName;
 
  std::string mUid;
 
  std::string mAssetKey;
 
  std::string mDetectionFrameID;
 
  YAML::Node mYamlNode;
 
  dart::dynamics::MetaSkeletonPtr mMetaSkeleton;
};
 
} // namespace perception
} // namespace aikido
 
#include "aikido/perception/detail/DetectedObject-impl.hpp"
 
#endif // AIKIDO_PERCEPTION_DETECTEDOBJECT_HPP_