model.h

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#ifndef FCL_ARTICULATED_MODEL_MODEL_H
#define FCL_ARTICULATED_MODEL_MODEL_H

#include "fcl/articulated_model/joint.h"
#include "fcl/articulated_model/link.h"

#include "fcl/data_types.h"
#include <boost/shared_ptr.hpp>

#include <map>
#include <stdexcept>
namespace fcl
{

class ModelParseError : public std::runtime_error
{
public:
  ModelParseError(const std::string& error_msg) : std::runtime_error(error_msg) {}
};

class Model
{
public:
  Model() {}
  
  virtual ~Model() {}

  const std::string& getName() const;
  
  void addLink(const boost::shared_ptr<Link>& link);

  void addJoint(const boost::shared_ptr<Joint>& joint);

  void initRoot(const std::map<std::string, std::string>& link_parent_tree);

  void initTree(std::map<std::string, std::string>& link_parent_tree);

  std::size_t getNumDofs() const;

  std::size_t getNumLinks() const;

  std::size_t getNumJoints() const;
  
  boost::shared_ptr<Link> getRoot() const;
  boost::shared_ptr<Link> getLink(const std::string& name) const;
  boost::shared_ptr<Joint> getJoint(const std::string& name) const;

  std::vector<boost::shared_ptr<Link> > getLinks() const;
  std::vector<boost::shared_ptr<Joint> > getJoints() const;
protected:
  boost::shared_ptr<Link> root_link_;
  std::map<std::string, boost::shared_ptr<Link> > links_;
  std::map<std::string, boost::shared_ptr<Joint> > joints_;

  std::string name_;
  
};

}

#endif