cuboid_reader.h

#ifndef CUBOID_READER_
#define CUBOID_READER_

#include "ros/ros.h"
#include <ros/package.h>
#include <xmlrpcpp/XmlRpc.h>
#include <gb_grasp/Cuboid.h>


#include "reader/abstract_param_reader.h"


class Cuboid_reader : public Abstract_param_reader{
    protected:
    std::vector<Cuboid> cuboid_box_;
    std::vector<Cuboid> cuboid_obstacle_;

    public:
    Cuboid_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
    
    inline void set_cuboid_bin_data(std::vector<Cuboid>& cuboid_data) {cuboid_box_ = cuboid_data;}
    inline void set_cuboid_obstacle_data(std::vector<Cuboid>& cuboid_data) {cuboid_obstacle_ = cuboid_data;}

    inline std::vector<Cuboid> cuboid_bin() {return cuboid_box_;}
    inline std::vector<Cuboid> cuboid_obstacle() {return cuboid_obstacle_;}

    void read() override;
};
#endif