frame.hpp

#pragma once
 
#include <string>
 
#include <viam/sdk/common/proto_convert.hpp>
#include <viam/sdk/spatialmath/geometry.hpp>
#include <viam/sdk/spatialmath/orientation.hpp>
 
namespace viam {
namespace app {
namespace v1 {
 
class Frame;
}
}  // namespace app
}  // namespace viam
 
namespace viam {
namespace sdk {
 
class LinkConfig {
   public:
    LinkConfig() = default;
    LinkConfig(translation t, Orientation o, GeometryConfig gcfg, std::string parent);
 
    const translation& get_translation() const;
    const Orientation& get_orientation() const;
    const GeometryConfig& get_geometry_config() const;
    const std::string& get_parent() const;
 
   private:
    translation translation_;
    Orientation orientation_;
    GeometryConfig geometry_;
    std::string parent_;
};
 
namespace proto_convert_details {
 
template <>
struct to_proto_impl<LinkConfig> {
    void operator()(const LinkConfig&, app::v1::Frame*) const;
};
 
template <>
struct from_proto_impl<app::v1::Frame> {
    LinkConfig operator()(const app::v1::Frame*) const;
};
 
}  // namespace proto_convert_details
}  // namespace sdk
}  // namespace viam