RobotInstance.h

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#ifndef ROBOTINSTANCE_H_
#define ROBOTINSTANCE_H_

#include <map>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include "robot_instance/DataMaps.h"

class RobotInstance
{
public:
    RobotInstance();
    virtual ~RobotInstance();

    static const std::string TOKEN_PATH;
    static const std::string COEFF_BASE_PATH;
    static const std::string COEFF_CLASS_PATH;
    static const std::string COEFF_JOINT_PATH;
    static const std::string COEFF_CLASS_SAFETY_PATH;
    static const std::string COEFF_JOINT_SAFETY_PATH;
    static const std::string INSTANCE_PATH;
    static const std::string REGISTER_PATH;
    static const std::string MODEL_PATH;
    static const std::string SCHEDULE_PATH;
    static const std::string COMMAND_PATH;
    static const std::string APIMAP_PATH;
    static const std::string SENSOR_PATH;
    static const std::string PROPERTY_PATH;

    std::string configurationBasePath;
    std::string configurationSafetyBasePath;
    std::string robotInstance;
    std::string machineName;
    std::vector<std::string> crew;

    std::string kinematicModelFile;
    std::string dynamicModelFile;

    std::string masterTokenFile;

    FileMap nodeTokenMap;

    std::vector<std::string>           mechanisms;
    std::map<std::string, std::string> mechanismNodeMap;
    FileMap                            mechanismScheduleMap;
    FileMap                            mechanismRegisterMap;
    FileMap                            mechanismClassFileMap;
    FileMap                            mechanismJointFileMap;
    FileMap                            mechanismClassSafetyFileMap;
    FileMap                            mechanismJointSafetyFileMap;
    FileMap                            mechanismCommandMap;
    FileMap                            mechanismControlMap;
    FileMap                            mechanismSetpointMap;

    std::map<std::string, std::vector<std::string> > mechanismJointsMap, mechanismAllJointsMap;
    FileNodeVectorMap                                jointScheduleNodeMap;
    std::map<std::string, std::vector<std::string> > mechanismActuatorsMap;
    FileNodeVectorMap                                actuatorScheduleNodeMap;

    std::vector<std::string> commandableJoints, allJoints;

    std::vector<std::string>           devices;
    std::map<std::string, std::string> deviceTypeMap;
    std::map<std::string, std::string> deviceNodeMap;
    FileMap                            deviceScheduleMap;
    FileMap                            deviceRegisterMap;
    std::map<std::string, std::string> deviceCalFileMap;

    std::map<std::string, std::string> mechanismTypeMap;
    std::map<std::string, std::string> channelTypeMap;
    std::map<std::string, std::string> jointTypeMap;
    std::map<std::string, std::string> jointCommandPathMap;

    std::map< std::string, std::vector< std::pair<std::string, std::string> > > componentCpfsMap;

    CoeffMap liveCoeffs;
    ParamMap liveParams;
};

typedef boost::shared_ptr<RobotInstance> RobotInstancePtr;

#endif /* ROBOTINSTANCE_H_ */