ConvexHull.h

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#pragma once
 
#include <tvm/robot/Frame.h>
 
#include <sch/CD/CD_Pair.h>
#include <sch/S_Object/S_Object.h>
 
namespace tvm
{
 
namespace robot
{
 
class TVM_DLLAPI ConvexHull : public graph::abstract::Node<ConvexHull>
{
public:
  SET_OUTPUTS(ConvexHull, Position)
  SET_UPDATES(ConvexHull, Position)
 
  
  ConvexHull(std::shared_ptr<sch::S_Object> o, FramePtr f, const sva::PTransformd & X_f_o);
 
  ConvexHull(const std::string & path, FramePtr f, const sva::PTransformd & X_f_o);
 
  sch::CD_Pair makePair(const ConvexHull & hull) const;
 
  const Frame & frame() const;
 
  Frame & frame();
 
private:
  std::shared_ptr<sch::S_Object> o_;
  FramePtr f_;
  sva::PTransformd X_f_o_;
 
  void updatePosition();
};
 
using ConvexHullPtr = std::shared_ptr<ConvexHull>;
 
} // namespace robot
 
} // namespace tvm