arm_configurations.h

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#ifndef _ARM_CONFIGURATIONS_H_
#define _ARM_CONFIGURATIONS_H_

#include <ros/ros.h>

#include <cmath>

#include <geometry_msgs/Vector3.h>

#include "object_manipulator/tools/exceptions.h"

#include "configuration_loader.h"

namespace object_manipulator {

class ArmConfigurations : public ConfigurationLoader
{
 private:

 public:
 ArmConfigurations() {}

  inline std::vector< double > position(std::string arm_name, std::string position)
  {
    std::string name = "/arm_configurations/" + position + "/position/" + arm_name;
    std::vector<double> values = getVectorDoubleParam(name);
    if ( values.size() != 7 )  throw BadParamException(name);
    return values;
  }

  inline std::vector< std::vector<double> > trajectory(std::string arm_name, std::string position)
  {
    std::string name = "/arm_configurations/" + position + "/trajectory/" + arm_name;
    std::vector<double> values = getVectorDoubleParam(name);
    if ( values.size() % 7 != 0 )  throw BadParamException(name);
    std::vector< std::vector<double> > traj;
    int waypoints = values.size() / 7;
    traj.resize( waypoints );
    for(int i = 0; i < waypoints; i++)
    {
      std::vector<double> pos;
      traj[i].insert(pos.begin(), values.begin() + i*7, values.begin() + (i+1)*7 );
    }
    return traj;
  }

};

inline ArmConfigurations& armConfigurations()
{
  static ArmConfigurations arm_configs;
  return arm_configs;
}

} //namespace object_manipulator

#endif