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_model/link_model.h>
#include <eigen_stl_containers/eigen_stl_containers.h>
#include <boost/function.hpp>
#include <trajectory_msgs/JointTrajectory.h>
#include <set>

namespace moveit
{
namespace core
{

class AttachedBody;
typedef boost::function<void(AttachedBody *body, bool attached)> AttachedBodyCallback;

class AttachedBody
{
public:
  
  AttachedBody(const 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 trajectory_msgs::JointTrajectory &attach_posture);
  
  ~AttachedBody();
  
  const std::string& getName() const
  {
    return id_;
  }

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

  const 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 trajectory_msgs::JointTrajectory& 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)
  {
    for (std::size_t i = 0; i < global_collision_body_transforms_.size() ; ++i)
      global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];
  }
  
private:

  const LinkModel                   *parent_link_model_;

  std::string                        id_;

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

  EigenSTL::vector_Affine3d          attach_trans_;

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

  trajectory_msgs::JointTrajectory   detach_posture_;
  
  EigenSTL::vector_Affine3d          global_collision_body_transforms_;
};

}
}

#endif