SpatialState.hpp

#pragma once
 
#include "state_representation/State.hpp"
 
namespace state_representation {
 
class SpatialState : public State {
public:
  SpatialState();
 
  explicit SpatialState(const std::string& name, const std::string& reference_frame = "world");
 
  SpatialState(const SpatialState& state);
 
  friend void swap(SpatialState& state1, SpatialState& state2);
 
  SpatialState& operator=(const SpatialState& state);
 
  const std::string& get_reference_frame() const;
 
  virtual void set_reference_frame(const std::string& reference_frame);
 
  bool is_incompatible(const State& state) const override;
 
  friend std::ostream& operator<<(std::ostream& os, const SpatialState& state);
 
protected:
  std::string to_string() const override;
 
private:
  std::string reference_frame_; 
};
 
inline void swap(SpatialState& state1, SpatialState& state2) {
  swap(static_cast<State&>(state1), static_cast<State&>(state2));
  std::swap(state1.reference_frame_, state2.reference_frame_);
}
 
}// namespace state_representation