dynContactList.h

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/*
 * Copyright (C) 2010-2011 RobotCub Consortium
 * Author: Andrea Del Prete
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef __DYNCONTLIST_H__
#define __DYNCONTLIST_H__
 
#include <vector>
#include <yarp/os/Portable.h>
#include "iCub/skinDynLib/dynContact.h"
 
namespace iCub
{
namespace skinDynLib
{
 
class dynContactList : public std::vector<dynContact>, public yarp::os::Portable
{
protected:
    
public:
    //~~~~~~~~~~~~~~~~~~~~~~
    //   CONSTRUCTORS
    //~~~~~~~~~~~~~~~~~~~~~~
    dynContactList();
    dynContactList(const size_type &n, const dynContact& value = dynContact());
 
 
    //~~~~~~~~~~~~~~~~~~~~~~~~~
    //   SERIALIZATION methods
    //~~~~~~~~~~~~~~~~~~~~~~~~~
    /*
    * Read dynContactList from a connection.
    * return true iff a dynContactList was read correctly
    */
    virtual bool read(yarp::os::ConnectionReader& connection);
 
    virtual bool write(yarp::os::ConnectionWriter& connection) const;
 
    
    virtual std::string toString(const int &precision = -1) const;
};
 
}
 
}
#endif