Visual.hpp

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//
// Copyright (c) 2015, Deutsches Forschungszentrum für Künstliche Intelligenz GmbH.
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#ifndef VISUAL_H
#define VISUAL_H
#include <urdf_model/types.h>
#include <urdf_model/link.h>
#include <boost/serialization/access.hpp>
#include <boost/serialization/export.hpp>
namespace smurf
{

    struct Visual
    {
        Visual();
        Visual(const urdf::Visual& urdfVisual);
        urdf::GeometrySharedPtr geometry;
        std::string material_name;
        urdf::MaterialSharedPtr material;
        std::string name;

        int groupId;

        urdf::Pose origin;

        bool operator==(const Visual& other) const;
        bool operator!=(const Visual& other) const;

        std::string getName() const 
        {
            return name;
        }

        friend class boost::serialization::access;

        template <typename Archive>
            void serialize(Archive &ar, const unsigned int version)
            {
                throw std::runtime_error("Smurf::Visual::serialize not implemented");
            }

    };
}

#endif // VISUAL_H