model_config.h

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#ifndef FCL_ARTICULATED_MODEL_MODEL_CONFIG_H
#define FCL_ARTICULATED_MODEL_MODEL_CONFIG_H

#include "fcl/data_types.h"
#include "fcl/articulated_model/joint_config.h"
#include <string>
#include <map>
#include <boost/weak_ptr.hpp>
#include <boost/shared_ptr.hpp>

namespace fcl
{

class ModelConfig
{
public:
  ModelConfig();

  ModelConfig(const ModelConfig& model_cfg);

  ModelConfig(std::map<std::string, boost::shared_ptr<Joint> > joints_map);

  JointConfig getJointConfigByJointName(const std::string& joint_name) const;
  JointConfig& getJointConfigByJointName(const std::string& joint_name);

  JointConfig getJointConfigByJoint(boost::shared_ptr<Joint> joint) const;
  JointConfig& getJointConfigByJoint(boost::shared_ptr<Joint> joint);

  std::map<std::string, JointConfig> getJointCfgsMap() const
  { return joint_cfgs_map_; }

private:
  std::map<std::string, JointConfig> joint_cfgs_map_;
};


}

#endif