ArticulatedObjectWriter.h

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#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include "Writer.h"
 
namespace armarx::armem::articulated_object
{
 
    class ArticulatedObjectWriter : virtual public Writer
    {
    public:
        using Writer::Writer;
 
        /**
         * @brief Stores the articulated object in the memory.
         * 
         */
        bool storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
                                    const armem::Time& timestamp,
                                    bool isStatic = false);
 
        /**
         * @brief Stores the articulated object. If the object class in unknown, 
         *        it will also be stored in the corresponding class core segment.
         */
        bool storeArticulatedObjectWithObjectClass(const VirtualRobot::RobotPtr& articulatedObject,
                                                   const armem::Time& timestamp,
                                                   bool isStatic = false);
 
    private:
    };
} // namespace armarx::armem::articulated_object