CObservationSkeleton.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, 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
{
/** 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 CObservationSkeleton : public CObservation
{
        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 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 override
        {
                out_sensorPose = sensorPose;
        }
        void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
        {
                sensorPose = newSensorPose;
        }
        void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.

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

#endif