robot_models.h

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#ifndef PLANNING_ENVIRONMENT_MODELS_ROBOT_MODELS_
#define PLANNING_ENVIRONMENT_MODELS_ROBOT_MODELS_

#include <planning_models/kinematic_model.h>
#include <ros/ros.h>
#include <boost/shared_ptr.hpp>

#include <map>
#include <string>
#include <vector>

namespace planning_environment
{
    
class RobotModels
{
public:
                
  RobotModels(const std::string &description);

  RobotModels(boost::shared_ptr<urdf::Model> urdf,
              planning_models::KinematicModel* kmodel);

  virtual ~RobotModels(void)
  {
    delete kmodel_;
  }
       
  const std::string &getDescription(void) const
  {
    return description_;
  }
        
  const planning_models::KinematicModel* getKinematicModel(void) const
  {
    return kmodel_;
  }

  const boost::shared_ptr<urdf::Model> &getParsedDescription(void) const
  {
    return urdf_;
  }

  bool loadedModels(void) const
  {
    return loaded_models_;
  }

  virtual void reload(void);
        
  //new functions from the monitors

  const std::string& getRobotFrameId(void) const
  {
    return kmodel_->getRoot()->getChildLinkModel()->getName();
  }

  const std::string& getWorldFrameId(void) const
  {
    return kmodel_->getRoot()->getParentFrameId();
  }

  std::string getRobotName(void) const 
  {
    return urdf_->getName();
  }

protected:
        
  void loadRobotFromParamServer(void);

  bool loadMultiDofConfigsFromParamServer(std::vector<planning_models::KinematicModel::MultiDofConfig>& configs);
  void loadGroupConfigsFromParamServer(const std::vector<planning_models::KinematicModel::MultiDofConfig>& multi_dof_configs,
                                       std::vector<planning_models::KinematicModel::GroupConfig>& configs);
        
  ros::NodeHandle nh_;
  ros::NodeHandle priv_nh_;
          
  std::string description_;
        
  bool loaded_models_;
  planning_models::KinematicModel* kmodel_;
  
  boost::shared_ptr<urdf::Model> urdf_;  
};
    
}

#endif