object.h

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/*
 * Copyright (C) 2014 WYSIWYD Consortium, European Commission FP7 Project ICT-612139
 * Authors: Stéphane Lallée
 * email:   stephane.lallee@gmail.com
 * website: https://github.com/robotology/icub-client/
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * icub-client/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
 */

#ifndef __ICUBCLIENT_OBJECT_H__
#define __ICUBCLIENT_OBJECT_H__

#include <yarp/sig/all.h>
#include "entity.h"
#include "icubclient/tags.h"

namespace icubclient{

enum class ObjectArea : int {HUMAN = 1, ROBOT = 2, SHARED = 3, NOTREACHABLE = 4};

class Object: public Entity
{
    friend class OPCClient;

public:
    Object();
    Object(const Object &b);

    yarp::sig::VectorOf<double> m_ego_position;

    yarp::sig::VectorOf<double> m_ego_orientation;

    yarp::sig::VectorOf<double> m_dimensions;

    yarp::sig::VectorOf<double> m_color;

    double m_present;

    double m_saliency;

    ObjectArea m_objectarea;

    double m_value;

    virtual bool    isType(std::string _entityType) const
    {
        if (_entityType == ICUBCLIENT_OPC_ENTITY_OBJECT) {
            return true;
        } else {
            return this->Entity::isType(_entityType);
        }
    }

    virtual yarp::os::Bottle asBottle() const;
    virtual bool             fromBottle(const yarp::os::Bottle &b);
    virtual std::string      toString() const;

    yarp::sig::VectorOf<double> getSelfRelativePosition(const yarp::sig::VectorOf<double> &vInitialRoot) const;

    std::string objectAreaAsString() const {
        return objectAreaAsString(m_objectarea);
    }

    static std::string objectAreaAsString(const icubclient::ObjectArea &o);
    static icubclient::ObjectArea stringToObjectArea(const std::string &o);

    double saliency() const;

    void setSaliency(double saliency);

    double value() const;

    void setValue(double value);
};

} //namespace

#endif