CObservationSkeleton.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationSkeleton_H
#define CObservationSkeleton_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace obs
{

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationSkeleton , CObservation, OBS_IMPEXP)

        /** This class stores a skeleton as tracked by OPENNI2 & NITE2 libraries from PrimeSense sensors
         *
         * \sa CObservation
         * \note Class introduced in MRPT 1.3.1
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationSkeleton : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationSkeleton )

         public:
                /** Constructor.
                */
                CObservationSkeleton(  ) :
                        sensorPose(),
                        head(), neck(), torso(), 
                        left_shoulder(), left_elbow(), left_hand(), left_hip(), left_knee(), left_foot(),
                        right_shoulder(), right_elbow(), right_hand(), right_hip(), right_knee(), right_foot()
                {}

                /** Destructor
                */
                virtual ~CObservationSkeleton()
                { }

                /** The pose of the sensor on the robot. */
                mrpt::poses::CPose3D  sensorPose;

                /** A generic joint for the skeleton observation */
                struct OBS_IMPEXP TSkeletonJoint
                {
                        /** Default constructor */
                        TSkeletonJoint() : x(.0), y(.0), z(.0), conf(.0) {}

                        /** 3D position */
                        double x,y,z;

                        /** Confidence value [0...1] */
                        double conf;
                };

                /** The skeleton joints (15)*/
                TSkeletonJoint head, neck, torso, 
                        left_shoulder, left_elbow, left_hand, left_hip, left_knee, left_foot,
                        right_shoulder, right_elbow, right_hand, right_hip, right_knee, right_foot;

                void getSensorPose( mrpt::poses::CPose3D & out_sensorPose) const  MRPT_OVERRIDE { out_sensorPose = sensorPose; }
                void setSensorPose( const mrpt::poses::CPose3D & newSensorPose ) MRPT_OVERRIDE { sensorPose = newSensorPose; }
                void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationSkeleton , CObservation, OBS_IMPEXP)

        } // End of namespace
} // End of namespace

#endif