shadow_hand.hpp

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//
// Created by behzad on 6/5/19.
//

#include <shadowlibs/shadow_finger.hpp>

namespace shadow_hand {
class Hand {
public:
  std::vector<std::shared_ptr<shadow_finger::Finger>> _fingerVec;

  Hand(std::initializer_list<std::shared_ptr<shadow_finger::Finger>>
           fingers_list) {
    // Minimum 2 fingers are required in Hand
    assert(fingers_list.size() >= 2);
    // Populate Hand with Fingers
    for (auto finger : fingers_list) {
      _fingerVec.push_back(finger);
    }
    ROS_INFO_STREAM("Initialized Hand with: " << _fingerVec.size()
                                              << " fingers.");
  }

  void addFinger(const std::shared_ptr<shadow_finger::Finger> &finger) {
    _fingerVec.push_back(finger);
  }

  int numFingers() { return _fingerVec.size(); }

  std::vector<std::shared_ptr<shadow_finger::Finger>> getFingers() {
    return _fingerVec;
  }
};
} // namespace shadow_hand