MILDRobotModelWithExactIKFactory.hpp

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#pragma once

#include "robot_model_services/robot_model/impl/MILDRobotModelWithExactIK.hpp"
#include "robot_model_services/robot_model/RobotModelAbstractFactory.hpp"

namespace robot_model_services {

    class MILDRobotModelWithExactIKFactory : public RobotModelAbstractFactory {
    private:
        float mMinTiltAngleDegrees, mMaxTiltAngleDegrees;
        float mMinPanAngleDegrees, mMaxPanAngleDegrees;

    public:
        MILDRobotModelWithExactIKFactory(float minTiltAngleDegrees, float maxTiltAngleDegrees,
                                                float minPanAngleDegrees, float maxPanAngleDegrees)
            : mMinTiltAngleDegrees(minTiltAngleDegrees),
              mMaxTiltAngleDegrees(maxTiltAngleDegrees),
              mMinPanAngleDegrees(minPanAngleDegrees),
              mMaxPanAngleDegrees(maxPanAngleDegrees)
        { }

        RobotModelPtr createRobotModel() {
            MILDRobotModel* robotModel = new MILDRobotModelWithExactIK();
            robotModel->setPanAngleLimits(mMinPanAngleDegrees, mMaxPanAngleDegrees);
            robotModel->setTiltAngleLimits(mMinTiltAngleDegrees, mMaxTiltAngleDegrees);
            return RobotModelPtr(robotModel);
        }
    };
    typedef boost::shared_ptr<MILDRobotModelWithExactIKFactory> MILDRobotModelWithExactIKFactoryPtr;
}