utils.h

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#ifndef KINEMATICS_MSGS_HELPER_FUNCTIONS_
#define KINEMATICS_MSGS_HELPER_FUNCTIONS_

#include <set>
#include <vector>
#include <string>

namespace kinematics_msgs
{
void getCollisionLinks(const std::vector<std::string> &default_links, const std::vector<std::string> &collision_enable_links, const std::vector<std::string> &collision_disable_links, std::vector<std::string> &result)
{
  if(collision_enable_links.empty() && collision_disable_links.empty())
    result = default_links;
  else if(!collision_enable_links.empty() && collision_disable_links.empty())
    result = collision_enable_links;
  else if(collision_enable_links.empty() && !collision_disable_links.empty())
  {
    std::set<std::string> tmp_set;
    for(unsigned int i=0; i < default_links.size(); i++)
      tmp_set.insert(default_links[i]);
    for(unsigned int i=0; i < collision_disable_links.size(); i++)
      tmp_set.erase(collision_disable_links[i]);

    for(std::set<std::string>::iterator set_iterator = tmp_set.begin(); set_iterator != tmp_set.end(); set_iterator++)
    {
       result.push_back(*set_iterator);
    }     
  }
  else 
  {
    std::set<std::string> tmp_set;
    for(unsigned int i=0; i < default_links.size(); i++)
      tmp_set.insert(default_links[i]);
    for(unsigned int i=0; i < collision_enable_links.size(); i++)
      tmp_set.insert(collision_enable_links[i]);
    for(unsigned int i=0; i < collision_disable_links.size(); i++)
      tmp_set.erase(collision_disable_links[i]);

    for(std::set<std::string>::iterator set_iterator = tmp_set.begin(); set_iterator != tmp_set.end(); set_iterator++)
    {
       result.push_back(*set_iterator);
    }
  }
}

}

#endif