attached_body.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_ROBOT_STATE_ATTACHED_BODY_
#define MOVEIT_ROBOT_STATE_ATTACHED_BODY_

#include <moveit/robot_state/link_state.h>
#include <eigen_stl_containers/eigen_stl_containers.h>
#include <sensor_msgs/JointState.h>
#include <set>

namespace robot_state
{

class LinkState;

class AttachedBody
{
  friend class RobotState;
public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  AttachedBody(const robot_model::LinkModel *link, 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 &attach_posture);

  ~AttachedBody();

  const std::string& getName() const
  {
    return id_;
  }

  const std::string& getAttachedLinkName() const
  {
    return parent_link_model_->getName();
  }

  const robot_model::LinkModel* getAttachedLink() const
  {
    return parent_link_model_;
  }

  const std::vector<shapes::ShapeConstPtr>& getShapes() const
  {
    return shapes_;
  }

  const std::set<std::string>& getTouchLinks() const
  {
    return touch_links_;
  }

  const sensor_msgs::JointState& getDetachPosture() const
  {
    return detach_posture_;
  }

  const EigenSTL::vector_Affine3d& getFixedTransforms() const
  {
    return attach_trans_;
  }

  const EigenSTL::vector_Affine3d& getGlobalCollisionBodyTransforms() const
  {
    return global_collision_body_transforms_;
  }

  void setPadding(double padding);

  void setScale(double scale);

  void computeTransform(const Eigen::Affine3d &parent_link_global_transform);

private:

  const robot_model::LinkModel      *parent_link_model_;

  std::string                        id_;

  std::vector<shapes::ShapeConstPtr> shapes_;

  EigenSTL::vector_Affine3d          attach_trans_;

  std::set<std::string>              touch_links_;

  sensor_msgs::JointState            detach_posture_;

  EigenSTL::vector_Affine3d          global_collision_body_transforms_;
};

}
#endif