robot_models.h

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#ifndef PLANNING_ENVIRONMENT_MODELS_ROBOT_MODELS_
#define PLANNING_ENVIRONMENT_MODELS_ROBOT_MODELS_

#include <planning_models/kinematic_model.h>
#include <ros/ros.h>
#include <boost/shared_ptr.hpp>

#include <map>
#include <string>
#include <vector>

namespace planning_environment
{
    
class RobotModels
{
public:
        
  struct GroupConfig
  {
    GroupConfig(std::string name) : name_(name){
    }

    ~GroupConfig() {
    }

    const std::vector<std::string>& getJointNames() {
      return joint_names_;
    }
    const std::vector<std::string>& getLinkNames() {
      return link_names_;
    }
    
    std::string name_;
    std::vector<std::string> joint_names_;
    std::vector<std::string> link_names_;
  };
        
  RobotModels(const std::string &description)
  {
    description_ = nh_.resolveName(description);
    loaded_models_ = false;
    loadRobot();
  }

  virtual ~RobotModels(void)
  {
    for(std::map<std::string, GroupConfig*>::iterator it = group_config_map_.begin();
        it != group_config_map_.end();
        it++) {
      delete it->second;
    }
  }
       
  const std::string &getDescription(void) const
  {
    return description_;
  }
        
  const boost::shared_ptr<planning_models::KinematicModel> &getKinematicModel(void) const
  {
    return kmodel_;
  }

  const boost::shared_ptr<urdf::Model> &getParsedDescription(void) const
  {
    return urdf_;
  }

  const std::map< std::string, std::vector<std::string> > &getPlanningGroupJoints(void) const
  {
    return planning_group_joints_;
  }     

  const std::map<std::string, std::vector<std::string> > &getPlanningGroupLinks(void) const {
    return planning_group_links_;
  }

  const std::vector<std::string>& getGroupJointUnion(void) const {
    return group_joint_union_;
  }

  const std::vector<std::string>& getGroupLinkUnion(void) const {
    return group_link_union_;
  }
        
  bool loadedModels(void) const
  {
    return loaded_models_;
  }
        
  virtual void reload(void);
        
protected:
        
  void loadRobot(void);

  void readGroupConfigs();
        
  bool readMultiDofConfigs();
        
  ros::NodeHandle                                    nh_;
          
  std::string                                        description_;
        
  bool                                               loaded_models_;
  boost::shared_ptr<planning_models::KinematicModel> kmodel_;
  
  boost::shared_ptr<urdf::Model>                     urdf_;
        
  std::map< std::string, std::vector<std::string> >  planning_group_links_;
  std::map< std::string, std::vector<std::string> >  planning_group_joints_;
  std::vector<std::string> group_joint_union_;
  std::vector<std::string> group_link_union_;
  std::map< std::string, GroupConfig*> group_config_map_;
  std::vector<planning_models::KinematicModel::MultiDofConfig> multi_dof_configs_;
  
  
};
    
}

#endif

---

planning_environment
Author(s): Ioan Sucan
autogenerated on Fri Jan 11 10:03:02 2013