attached_body.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_state/attached_body.h>

robot_state::AttachedBody::AttachedBody(const robot_model::LinkModel *parent_link_model,
                                        const std::string &id,
                                        const std::vector<shapes::ShapeConstPtr> &shapes,
                                        const EigenSTL::vector_Affine3d &attach_trans,
                                        const std::set<std::string> &touch_links,
                                        const sensor_msgs::JointState &detach_posture) :
  parent_link_model_(parent_link_model),
  id_(id),
  shapes_(shapes),
  attach_trans_(attach_trans),
  touch_links_(touch_links),
  detach_posture_(detach_posture)
{
  global_collision_body_transforms_.resize(attach_trans.size());
  for(std::size_t i = 0 ; i < global_collision_body_transforms_.size() ; ++i)
    global_collision_body_transforms_[i].setIdentity();
}

robot_state::AttachedBody::~AttachedBody()
{
}

void robot_state::AttachedBody::setScale(double scale)
{
  for (std::size_t i = 0 ; i < shapes_.size() ; ++i)
  {
    // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
    if (shapes_[i].unique())
      const_cast<shapes::Shape*>(shapes_[i].get())->scale(scale);
    else
    {
      // if the shape is owned elsewhere, we make a copy:
      shapes::Shape *copy = shapes_[i]->clone();
      copy->scale(scale);
      shapes_[i].reset(copy);
    }
  }
}

void robot_state::AttachedBody::setPadding(double padding)
{
  for (std::size_t i = 0 ; i < shapes_.size() ; ++i)
  {
    // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
    if (shapes_[i].unique())
      const_cast<shapes::Shape*>(shapes_[i].get())->padd(padding);
    else
    {
      // if the shape is owned elsewhere, we make a copy:
      shapes::Shape *copy = shapes_[i]->clone();
      copy->padd(padding);
      shapes_[i].reset(copy);
    }
  }
}

void robot_state::AttachedBody::computeTransform(const Eigen::Affine3d &parent_link_global_transform)
{
  for(std::size_t i = 0; i < global_collision_body_transforms_.size() ; ++i)
    global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];
}