DominoData.h

Go to the documentation of this file.

#ifndef _DOMINODATA_H_
#define _DOMINODATA_H_

#include "BrickData.h"

namespace DualCoding {

//! Subclass of Brick that describes a Domino
class DominoData : public BrickData {

public:
  DominoData(ShapeSpace& _space, int _lowValue, int _highValue,
             const fmat::SubVector<3,const fmat::fmatReal>& _centroid,
             const fmat::Column<3> _extents,
             const fmat::SubMatrix<3,3,const fmat::fmatReal> &_orient) :
    BrickData(_space, _centroid, _extents, _orient), lowValue(_lowValue), highValue(_highValue),
    length(2*_extents[0]), width(2*_extents[1]), height(2*_extents[2]), lineColor()
    {
      type = dominoDataType;
    }

  DATASTUFF_H(DominoData);

  static ShapeType_t getStaticType() { return dominoDataType; }

  int getLowValue() const { return lowValue; }
  int getHighValue() const { return highValue; }
  void setValues(int low, int high) { lowValue=low; highValue=high; }

  float getLength() const { return length; }
  float getWidth()  const { return width; }
  float getHeight() const { return height; }

  rgb getLineColor() const { return lineColor; }
  void setLineColor(rgb _lineColor) { lineColor = _lineColor; }

  //! Match dominoes based on their parameters.  (Virtual in BaseData.)
  virtual bool isMatchFor(const ShapeRoot& other) const;

  void flipLeftRight(); //! Helper function for domino construction

  enum ObjectFeature { none=0, center, lowEnd, highEnd, leftSide, rightSide };

  //! Compute an object grasp point based on some feature of the object, e.g., the low end of a domino.
  void computeGraspPoint(const ObjectFeature pos,
                         Point &location,
                         AngTwoPi &orient) const;

  //! Compute a point on the destination target based on some feature of the target, e.g., the left side of a domino.
  void computeTargetPosition(const ObjectFeature pos,
                             Point &location,
                             AngTwoPi &orient) const;

protected:
  int lowValue;   //!< number of dots on low side
  int highValue;  //!< number of dots on high side
  float length; //!< length of the domino (longest dimension)
  float width; //!< width of the domino (smaller than length);
  float height; //!< height of the domino
  rgb lineColor; //!< color of the dividing line
};

} // namespace

#endif