link_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_

#include <string>
#include <vector>
#include <utility>
#include <map>
#include <Eigen/Geometry>
#include <geometric_shapes/shapes.h>
#include <eigen_stl_containers/eigen_stl_vector_container.h>

namespace moveit
{
namespace core
{
class JointModel;
class LinkModel;

typedef std::map<std::string, LinkModel*> LinkModelMap;

typedef std::map<std::string, const LinkModel*> LinkModelMapConst;

typedef std::map<const LinkModel*, Eigen::Affine3d, std::less<const LinkModel*>,
                 Eigen::aligned_allocator<std::pair<const LinkModel*, Eigen::Affine3d> > >
    LinkTransformMap;

class LinkModel
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  LinkModel(const std::string& name);
  ~LinkModel();

  const std::string& getName() const
  {
    return name_;
  }

  int getLinkIndex() const
  {
    return link_index_;
  }

  void setLinkIndex(int index)
  {
    link_index_ = index;
  }

  int getFirstCollisionBodyTransformIndex() const
  {
    return first_collision_body_transform_index_;
  }

  void setFirstCollisionBodyTransformIndex(int index)
  {
    first_collision_body_transform_index_ = index;
  }

  const JointModel* getParentJointModel() const
  {
    return parent_joint_model_;
  }

  void setParentJointModel(const JointModel* joint);

  const LinkModel* getParentLinkModel() const
  {
    return parent_link_model_;
  }

  void setParentLinkModel(const LinkModel* link)
  {
    parent_link_model_ = link;
  }

  const std::vector<const JointModel*>& getChildJointModels() const
  {
    return child_joint_models_;
  }

  void addChildJointModel(const JointModel* joint)
  {
    child_joint_models_.push_back(joint);
  }

  const Eigen::Affine3d& getJointOriginTransform() const
  {
    return joint_origin_transform_;
  }

  bool jointOriginTransformIsIdentity() const
  {
    return joint_origin_transform_is_identity_;
  }

  bool parentJointIsFixed() const
  {
    return is_parent_joint_fixed_;
  }

  void setJointOriginTransform(const Eigen::Affine3d& transform);

  const EigenSTL::vector_Affine3d& getCollisionOriginTransforms() const
  {
    return collision_origin_transform_;
  }

  const std::vector<int>& areCollisionOriginTransformsIdentity() const
  {
    return collision_origin_transform_is_identity_;
  }

  const std::vector<shapes::ShapeConstPtr>& getShapes() const
  {
    return shapes_;
  }

  void setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Affine3d& origins);

  const Eigen::Vector3d& getShapeExtentsAtOrigin() const
  {
    return shape_extents_;
  }

  const Eigen::Vector3d getCenteredBoundingBoxOffset() const;

  const LinkTransformMap& getAssociatedFixedTransforms() const
  {
    return associated_fixed_transforms_;
  }

  void addAssociatedFixedTransform(const LinkModel* link_model, const Eigen::Affine3d& transform)
  {
    associated_fixed_transforms_[link_model] = transform;
  }

  const std::string& getVisualMeshFilename() const
  {
    return visual_mesh_filename_;
  }

  const Eigen::Vector3d& getVisualMeshScale() const
  {
    return visual_mesh_scale_;
  }

  const Eigen::Affine3d& getVisualMeshOrigin() const
  {
    return visual_mesh_origin_;
  }

  void setVisualMesh(const std::string& visual_mesh, const Eigen::Affine3d& origin, const Eigen::Vector3d& scale);

private:
  std::string name_;

  const JointModel* parent_joint_model_;

  const LinkModel* parent_link_model_;

  std::vector<const JointModel*> child_joint_models_;

  bool is_parent_joint_fixed_;

  bool joint_origin_transform_is_identity_;

  Eigen::Affine3d joint_origin_transform_;

  EigenSTL::vector_Affine3d collision_origin_transform_;

  std::vector<int> collision_origin_transform_is_identity_;

  LinkTransformMap associated_fixed_transforms_;

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

  Eigen::Vector3d shape_extents_;

  std::string visual_mesh_filename_;

  Eigen::Affine3d visual_mesh_origin_;

  Eigen::Vector3d visual_mesh_scale_;

  int first_collision_body_transform_index_;

  int link_index_;
};
}
}

#endif