Frame.hpp

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#ifndef FRAME_H
#define FRAME_H

#include <urdf_model/model.h>
#include "Collidable.hpp"
#include "Inertial.hpp"

namespace smurf
{
    
    class Frame
    {
        
    public:
        Frame(const std::string &name, const std::vector<urdf::Visual>& visuals);
        Frame(const std::string &name);
        Frame();
        
        const std::string getName() const
        {
            return name;
        };
        
        void addVisual(const urdf::Visual& visual);
        void setVisuals(const std::vector<urdf::Visual>& visuals);
        void getVisuals(std::vector<urdf::Visual>& Visuals) const;
        std::vector<urdf::Visual>& getVisuals();
        std::vector< urdf::Collision >& getCollisions();
        void addCollision(const urdf::Collision& collision);
        std::vector<smurf::Collidable> &getCollidables();
        void getCollidables(std::vector<smurf::Collidable> &Collidables) const;
        
        void addCollidable(const smurf::Collidable & collidable);
        
        void setInertial(const smurf::Inertial& inertialM)
        {
            this->inertial = inertialM;
            this->hasInertial = true;
        };
        
        smurf::Inertial getInertial()
        {
            return this->inertial;
        };
        
        void setGroupId(int id)
        {
            this->groupId = id;
        };
        
        int getGroupId() const
        {
            return this->groupId;
        };
        
        bool getHasInertial() const
        {
            return this->hasInertial;
        }
        
        /*
        void setCollidables(const std::vector<smurf::Collidable>& collidables);
        */
        
    private:
        std::string name;
        
        std::vector<smurf::Collidable> collidables;
        // TODO can we just use the urdf::Collision objects? No this breaks on execution for the simulator but I guess it can be needed for the collision detection outside the simulator, therefore I put it as a separate structure.
        std::vector<urdf::Collision> collisions;
        
        std::vector<urdf::Visual> visuals;
        
        bool hasInertial;
        
        smurf::Inertial inertial;
        
        int groupId;
        
    };
    
};
#endif // FRAME_H