// Copyright (c) 2014, LAAS-CNRS

// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)

//

// Redistribution and use in source and binary forms, with or without

// modification, are permitted provided that the following conditions are

// met:

//

// 1. Redistributions of source code must retain the above copyright

//    notice, this list of conditions and the following disclaimer.

//

// 2. Redistributions in binary form must reproduce the above copyright

// notice, this list of conditions and the following disclaimer in the

// documentation and/or other materials provided with the distribution.

//

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR

// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT

// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,

// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT

// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,

// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY

// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH

// DAMAGE.

#ifndef HPP_MANIPULATION_SRDF_FACTORIES_CONTACT_HH

#define HPP_MANIPULATION_SRDF_FACTORIES_CONTACT_HH

#include <hpp/fcl/math/transform.h>

#include <hpp/fcl/shape/geometric_shapes.h>

#include <hpp/manipulation/fwd.hh>

#include "hpp/manipulation/parser/factories/sequence.hh"

#include "hpp/manipulation/parser/parser.hh"

namespace hpp {

namespace manipulation {

namespace srdf {

/// \addtogroup factories

/// \{

/// \brief  Factory building contact surfaces.

class ContactFactory : public parser::ObjectFactory {

 public:

  typedef parser::SequenceFactory<value_type> PointFactory;

  typedef parser::SequenceFactory<unsigned int> TriangleFactory;

  typedef parser::SequenceFactory<unsigned int> ShapeFactory;

  virtual void finishTags();

 private:

  JointAndShapes_t shapes_;

  std::string linkName_, objectName_;

};

/// \}

}  // namespace srdf

}  // namespace manipulation

}  // namespace hpp

#endif  // HPP_MANIPULATION_SRDF_FACTORIES_CONTACT_HH