skinContactList.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 __SKINCONTLIST_H__
#define __SKINCONTLIST_H__
 
#include <vector>
#include <map>
#include <yarp/os/Portable.h>
#include "iCub/skinDynLib/skinContact.h"
#include "iCub/skinDynLib/dynContactList.h"
 
namespace iCub
{
namespace skinDynLib
{
 
class skinContactList  : public std::vector<skinContact>, public yarp::os::Portable
{
protected:
    
public:
    //~~~~~~~~~~~~~~~~~~~~~~
    //   CONSTRUCTORS
    //~~~~~~~~~~~~~~~~~~~~~~
    skinContactList();
    skinContactList(const size_type &n, const skinContact& value = skinContact());
 
    virtual skinContactList filterBodyPart(const BodyPart &bp);
 
    virtual std::map<BodyPart, skinContactList> splitPerBodyPart();
 
    virtual std::map<SkinPart, skinContactList> splitPerSkinPart();
 
    
    //~~~~~~~~~~~~~~~~~~~~~~~~~
    //   SERIALIZATION methods
    //~~~~~~~~~~~~~~~~~~~~~~~~~
    /*
    * Read skinContactList from a connection.
    * return true iff a skinContactList was read correctly
    */
    virtual bool read(yarp::os::ConnectionReader& connection);
 
    virtual bool write(yarp::os::ConnectionWriter& connection) const;
 
    virtual dynContactList toDynContactList() const;
 
    //virtual bool fromDynContactList(dynContactList &l);
    
    virtual std::string toString(const int &precision=-1) const;
};
 
}
 
}
#endif