model.h

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/* Author Ioan Sucan */

#ifndef SRDF_MODEL_
#define SRDF_MODEL_

#include <map>
#include <string>
#include <vector>
#include <utility>
#include <urdf/model.h> // TODO: replace with urdf_model/types.h in Lunar
#include <boost/shared_ptr.hpp>
#include <tinyxml.h>

namespace urdf
{
typedef boost::shared_ptr<const ::urdf::Link> LinkConstSharedPtr;
}

namespace srdf
{

class Model
{
public:
  
  Model()
  {
  }
  
  ~Model()
  {
  }
  
  bool initXml(const urdf::ModelInterface &urdf_model, TiXmlElement *xml);
  bool initXml(const urdf::ModelInterface &urdf_model, TiXmlDocument *xml);
  bool initFile(const urdf::ModelInterface &urdf_model, const std::string& filename);
  bool initString(const urdf::ModelInterface &urdf_model, const std::string& xmlstring);
  
  struct Group
  {
    std::string                                       name_;
    
    std::vector<std::string>                          joints_;
    
    std::vector<std::string>                          links_;
    
    std::vector<std::pair<std::string, std::string> > chains_;
    
    std::vector<std::string>                          subgroups_;
  };
  
  struct VirtualJoint
  {
    std::string name_;
    
    std::string type_;
    
    std::string parent_frame_;
    
    std::string child_link_;
  };
  
  struct EndEffector
  {
    std::string name_;
    
    std::string parent_link_;
    
    std::string parent_group_;
    
    std::string component_group_;
  };
  
  struct GroupState
  {
    std::string                                 name_;
    
    std::string                                 group_;
    
    std::map<std::string, std::vector<double> > joint_values_;
  };
  
  struct Sphere
  {
    double center_x_;
    double center_y_;
    double center_z_;

    double radius_;
  };

  struct LinkSpheres
  {
    std::string link_;

    std::vector<Sphere> spheres_;
  };
  
  struct DisabledCollision
  {
    std::string link1_;

    std::string link2_;

    std::string reason_;
  };
  
  // Some joints can be passive (not actuated). This structure specifies information about such joints
  struct PassiveJoint
  {   
    std::string name_;
  };
      
  const std::string& getName() const
  {
    return name_;
  }
  
  const std::vector<DisabledCollision>& getDisabledCollisionPairs() const
  {
    return disabled_collisions_;
  }
  
  __attribute__ ((deprecated)) 
  std::vector<std::pair<std::string, std::string> > getDisabledCollisions() const;
  
  const std::vector<Group>& getGroups() const
  {
    return groups_;
  }
  
  const std::vector<VirtualJoint>& getVirtualJoints() const
  {
    return virtual_joints_;
  }
  
  const std::vector<EndEffector>& getEndEffectors() const
  {
    return end_effectors_;
  }
  
  const std::vector<GroupState>& getGroupStates() const
  {
    return group_states_;
  }
  
  const std::vector<PassiveJoint>& getPassiveJoints() const
  {
    return passive_joints_;
  }
  
  const std::vector<LinkSpheres>& getLinkSphereApproximations() const
  {
    return link_sphere_approximations_;
  }
  
  void clear();
  
private:
  
  void loadVirtualJoints(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadGroups(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadGroupStates(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadEndEffectors(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadLinkSphereApproximations(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadDisabledCollisions(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadPassiveJoints(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  
  std::string                    name_;
  std::vector<Group>             groups_;
  std::vector<GroupState>        group_states_;
  std::vector<VirtualJoint>      virtual_joints_;
  std::vector<EndEffector>       end_effectors_;
  std::vector<LinkSpheres>       link_sphere_approximations_;
  std::vector<DisabledCollision> disabled_collisions_;
  std::vector<PassiveJoint>      passive_joints_;
};
typedef boost::shared_ptr<Model> ModelSharedPtr;
typedef boost::shared_ptr<const Model> ModelConstSharedPtr;


}
#endif