robot_models.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef PLANNING_ENVIRONMENT_MODELS_ROBOT_MODELS_ 00038 #define PLANNING_ENVIRONMENT_MODELS_ROBOT_MODELS_ 00039 00040 #include <planning_models/kinematic_model.h> 00041 #include <ros/ros.h> 00042 #include <boost/shared_ptr.hpp> 00043 00044 #include <map> 00045 #include <string> 00046 #include <vector> 00047 00048 namespace planning_environment 00049 { 00050 00053 class RobotModels 00054 { 00055 public: 00056 00057 RobotModels(const std::string &description); 00058 00059 RobotModels(boost::shared_ptr<urdf::Model> urdf, 00060 planning_models::KinematicModel* kmodel); 00061 00062 virtual ~RobotModels(void) 00063 { 00064 delete kmodel_; 00065 } 00066 00068 const std::string &getDescription(void) const 00069 { 00070 return description_; 00071 } 00072 00074 const planning_models::KinematicModel* getKinematicModel(void) const 00075 { 00076 return kmodel_; 00077 } 00078 00080 const boost::shared_ptr<urdf::Model> &getParsedDescription(void) const 00081 { 00082 return urdf_; 00083 } 00084 00086 bool loadedModels(void) const 00087 { 00088 return loaded_models_; 00089 } 00090 00092 virtual void reload(void); 00093 00094 //new functions from the monitors 00095 00097 const std::string& getRobotFrameId(void) const 00098 { 00099 return kmodel_->getRoot()->getChildLinkModel()->getName(); 00100 } 00101 00103 const std::string& getWorldFrameId(void) const 00104 { 00105 return kmodel_->getRoot()->getParentFrameId(); 00106 } 00107 00108 std::string getRobotName(void) const 00109 { 00110 return urdf_->getName(); 00111 } 00112 00113 protected: 00114 00115 void loadRobotFromParamServer(void); 00116 00117 bool loadMultiDofConfigsFromParamServer(std::vector<planning_models::KinematicModel::MultiDofConfig>& configs); 00118 void loadGroupConfigsFromParamServer(const std::vector<planning_models::KinematicModel::MultiDofConfig>& multi_dof_configs, 00119 std::vector<planning_models::KinematicModel::GroupConfig>& configs); 00120 00121 ros::NodeHandle nh_; 00122 ros::NodeHandle priv_nh_; 00123 00124 std::string description_; 00125 00126 bool loaded_models_; 00127 planning_models::KinematicModel* kmodel_; 00128 00129 boost::shared_ptr<urdf::Model> urdf_; 00130 }; 00131 00132 } 00133 00134 #endif 00135