Visual.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
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 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
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#ifndef _MIRA_VISUAL_H_
#define _MIRA_VISUAL_H_

#include <transform/Pose.h>

#include <model/Geometry.h>
#include <model/Material.h>

namespace mira { namespace model {


class MIRA_RIGID_MODEL_EXPORT Visual
{
public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Name", name, "Name of the visual part of a link", "");
        r.member("Origin", origin, "Origin of the geometry relative to the "
                 "frame of the link", Pose3());
        r.member("Geometry", geometry, "Geometry");
        r.member("Material", material, "Material", MaterialPtr());
    }

    std::string name;           
    Pose3 origin;               
    GeometryPtr geometry;       
    std::string materialName;   
    MaterialPtr material;       
};

typedef boost::shared_ptr<Visual> VisualPtr;


}}

#endif