group_info.hpp

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#pragma once

#include "hebi.h"
#include "Eigen/Eigen"
#include "info.hpp"
#include <vector>

namespace hebi {

class GroupInfo final
{
  public:
    #ifndef DOXYGEN_OMIT_INTERNAL

    HebiGroupInfoPtr internal_;
    #endif // DOXYGEN_OMIT_INTERNAL

  private:
    const size_t number_of_modules_;
    std::vector<Info> infos_;

  public:
    GroupInfo(size_t number_of_modules);

    ~GroupInfo() noexcept; /* annotating specified destructor as noexcept is best-practice */

    size_t size() const;

    const Info& operator[](size_t index) const;
    
    bool writeGains(const std::string& file) const;

    Eigen::VectorXd getSpringConstant() const;

    void getSpringConstant(Eigen::VectorXd& out) const;

};

} // namespace hebi