text: //
  // Created by jhwangbo on 17. 5. 3.
  //
  
  #ifndef RAI_QUADROTOR_HPP
  #define RAI_QUADROTOR_HPP
  
  #include <raiCommon/TypeDef.hpp>
  #include "MultiBodyObject.hpp"
  #include "Mesh.hpp"
  
  namespace rai_graphics {
  namespace object {
  
  class Quadrotor : public MultiBodyObject {
  
   public:
    //EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    Quadrotor(float scale);
    ~Quadrotor();
    void init();
    void destroy();
    void setPose(Eigen::Matrix4d &ht);
    void setPose(Eigen::Vector3d &position, Eigen::Vector4d &quat);
    void spinRotors();
    SingleBodyObject* basePtr(){ return &base; }
  
   private:
  
    Mesh base;
    Mesh prop1;
    Mesh prop2;
    Mesh prop3;
    Mesh prop4;
    Mesh brain;
  
    std::vector<rai::HomogeneousTransform> defaultPose_;
  };
  
  } // object
  } // rai_graphics
  
  #endif //RAI_QUADROTOR_HPP
  