mi_object_instance.hh

#ifndef __MI_OBJECT_INSTANCE_H
#define __MI_OBJECT_INSTANCE_H

#include <boost/smart_ptr.hpp>
#include <map>
#include <mimas/mm_object.h>
#include <utility>
#include "instance_data.hh"
#include "mi_object_type.hh"
#include "mi_pose.hh"
#include "vision_type.hh"

class mi_object_instance: public mimas::mm_object
{
public:
  mi_object_instance( const std::string &_type, int _nr,
                      double _timestamp,
                      mi_pose _pose,
                      vision_type type,
                      instance_data_ptr _data ):
    id( _type, _nr ), timestamp( _timestamp ), pose( _pose )
  { internal_data[ type ] = _data; }
  std::string get_type(void) const { return id.first; }
  int get_id(void) const { return id.second; }
  double get_timestamp(void) const { return timestamp; }
  const mi_pose &get_pose(void) const { return pose; }
  instance_data_ptr data( vision_type type ) { return internal_data[ type ]; }
protected:
  std::pair< std::string, int > id;
  double timestamp;
  mi_pose pose;
  std::map< vision_type, instance_data_ptr > internal_data;
};

typedef boost::shared_ptr< mi_object_instance > mi_object_instance_ptr;


#endif

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