utils.cpp

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#include "industrial_utils/utils.h"
#include "ros/ros.h"
#include <algorithm>

namespace industrial_utils
{

bool isSimilar(std::vector<std::string> lhs, std::vector<std::string> rhs)
{
  bool rtn = false;

  if (lhs.size() != rhs.size())
  {
    rtn = false;
  }
  else
  {
    std::sort(lhs.begin(), lhs.end());
    std::sort(rhs.begin(), rhs.end());
    rtn = isSame(lhs, rhs);
  }

  return rtn;
}

bool isSame(const std::vector<std::string> & lhs, const std::vector<std::string> & rhs)
{
  bool rtn = false;

  if (lhs.size() != rhs.size())
  {
    rtn = false;
  }
  else
  {
    rtn = std::equal(lhs.begin(), lhs.end(), rhs.begin());
  }
  return rtn;
}

bool findChainJointNames(const boost::shared_ptr<const urdf::Link> &link, bool ignore_fixed,
                                 std::vector<std::string> &joint_names)
{
  typedef std::vector<boost::shared_ptr<urdf::Joint> > joint_list;
  typedef std::vector<boost::shared_ptr<urdf::Link> > link_list;
  std::string found_joint, found_link;

  // check for joints directly connected to this link
  const joint_list &joints = link->child_joints;
  ROS_DEBUG("Found %d child joints:", joints.size());
  for (joint_list::const_iterator it=joints.begin(); it!=joints.end(); ++it)
  {
    ROS_DEBUG_STREAM("  " << (*it)->name << ": type " <<  (*it)->type);
    if (ignore_fixed && (*it)->type == urdf::Joint::FIXED)
      continue;

    if (found_joint.empty())
    {
      found_joint = (*it)->name;
      joint_names.push_back(found_joint);
    }
    else
    {
      ROS_WARN_STREAM("Unable to find chain in URDF.  Branching joints: " << found_joint << " and " << (*it)->name);
      return false;  // branching tree (multiple valid child-joints)
    }
  }

  // check for joints connected to children of this link
  const link_list &links = link->child_links;
  std::vector<std::string> sub_joints;
  ROS_DEBUG("Found %d child links:", links.size());
  for (link_list::const_iterator it=links.begin(); it!=links.end(); ++it)
  {
    ROS_DEBUG_STREAM("  " << (*it)->name);
    if (!findChainJointNames(*it, ignore_fixed, sub_joints))   // NOTE: recursive call
      return false;

    if (sub_joints.empty())
      continue;

    if (found_link.empty())
    {
      found_link = (*it)->name;
      joint_names.insert(joint_names.end(), sub_joints.begin(), sub_joints.end());  // append sub_joints
    }
    else
    {
      ROS_WARN_STREAM("Unable to find chain in URDF.  Branching links: " << found_link << " and " << (*it)->name);
      return false;  // branching tree (multiple valid child-joints)
    }
  }

  return true;
}

} //industrial_utils