link_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_ROBOT_MODEL_LINK_MODEL_
#define MOVEIT_ROBOT_MODEL_LINK_MODEL_

#include <map>
#include <string>
#include <vector>
#include <utility>
#include <Eigen/Geometry>
#include <geometric_shapes/shapes.h>
#include <geometric_shapes/shape_messages.h>

namespace robot_model
{

class JointModel;

class LinkModel
{
  friend class RobotModel;
public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef std::map<const LinkModel*, Eigen::Affine3d, std::less<const LinkModel*>,
                   Eigen::aligned_allocator<std::pair<const LinkModel*, Eigen::Affine3d> > > AssociatedFixedTransformMap;

  LinkModel();
  ~LinkModel();

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

  int getTreeIndex() const
  {
    return tree_index_;
  }

  const JointModel* getParentJointModel() const
  {
    return parent_joint_model_;
  }

  const std::vector<JointModel*>& getChildJointModels() const
  {
    return child_joint_models_;
  }

  const Eigen::Affine3d& getJointOriginTransform() const
  {
    return joint_origin_transform_;
  }


  const Eigen::Affine3d& getCollisionOriginTransform() const
  {
    return collision_origin_transform_;
  }

  const shapes::ShapeConstPtr& getShape() const
  {
    return shape_;
  }

  const shapes::ShapeMsg& getShapeMsg() const
  {
    return shape_msg_;
  }

  const Eigen::Vector3d& getShapeExtentsAtOrigin() const
  {
    return shape_extents_;
  }

  const AssociatedFixedTransformMap& getAssociatedFixedTransforms() const
  {
    return associated_fixed_transforms_;
  }

  const std::string& getVisualMeshFilename() const
  {
    return visual_mesh_filename_;
  }

  const Eigen::Vector3d& getVisualMeshScale() const
  {
    return visual_mesh_scale_;
  }

private:

  std::string               name_;

  JointModel               *parent_joint_model_;

  std::vector<JointModel*>  child_joint_models_;

  AssociatedFixedTransformMap associated_fixed_transforms_;

  Eigen::Affine3d           joint_origin_transform_;

  Eigen::Affine3d           collision_origin_transform_;

  shapes::ShapeConstPtr     shape_;

  shapes::ShapeMsg          shape_msg_;

  Eigen::Vector3d           shape_extents_;

  std::string               visual_mesh_filename_;

  Eigen::Vector3d           visual_mesh_scale_;

  int                       tree_index_;

};
}

#endif