Object.hpp

#ifndef OBJECT_HPP
#define OBJECT_HPP

#include <cstdint>
#include <optional>
#include <HLR/Object.h> //ROS msg
#include <CGAL/Simple_cartesian.h>
#include <CGAL/Surface_mesh.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

namespace HLR
{
namespace PointCloud
{
struct Object
{
    using Point = CGAL::Simple_cartesian<double>::Point_3;
    using Polyhedron = CGAL::Surface_mesh<Point>;
    using Vector = CGAL::Simple_cartesian<double>::Vector_3;
    std::uint32_t id;
    Polyhedron polyhedron;
    std::optional<Vector> speed;
    bool is_cup;
    bool is_deleted;
    pcl::PointCloud<pcl::PointXYZ> point_cloud;
    Point middlepoint;
    Point centerpoint;

    bool operator==(const Object& rhs) const;
    bool operator!=(const Object& rhs) const;
    explicit operator HLR::Object() const;
};

} // namespace PointCloud
} // namespace HLR
#endif /* OBJECT_HPP */