Program Listing for File model_type.h
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/*
* Copyright (C) 2020 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef CROWD_SIM_MODEL_TYPE__H
#define CROWD_SIM_MODEL_TYPE__H
#include <string>
#include <vector>
#include <memory>
#include <yaml-cpp/yaml.h>
namespace crowd_sim {
class ModelType
{
public:
ModelType(std::string type_name, std::string animation_name)
: _name(type_name),
_animation(animation_name),
_animation_speed(0.2),
_model_uri(""),
_init_pose({0.0, 0.0, 0.0, 0.0, 0.0, 0.0})
{}
ModelType(const YAML::Node& input)
: _name("N.A"),
_animation("N.A"),
_animation_speed(0.2),
_model_uri(""),
_init_pose({0.0, 0.0, 0.0, 0.0, 0.0, 0.0})
{
from_yaml(input);
}
std::string get_name() const { return _name; }
std::string get_animation() const { return _animation; }
double get_animation_speed() const { return _animation_speed; }
std::string get_model_uri() const { return _model_uri; }
std::vector<double> get_init_pose() const { return _init_pose; }
void set_name(const std::string& type_name) { _name = type_name; }
void set_animation(const std::string& animation_name)
{
_animation = animation_name;
}
void set_animation_speed(double speed) { _animation_speed = speed; }
void set_model_uri(const std::string& model_uri) { _model_uri = model_uri; }
void set_init_pose(const std::vector<double>& init_pose)
{
_init_pose = init_pose;
}
// check model_uri is "model://"
bool is_valid() { return _model_uri.size() > 8; }
YAML::Node to_yaml() const;
void from_yaml(const YAML::Node& input);
private:
std::string _name, _animation;
double _animation_speed;
std::string _model_uri;
std::vector<double> _init_pose;
};
} //namespace crowd_sim
#endif