attached_body.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_state/attached_body.h>
#include <geometric_shapes/shapes.h>

moveit::core::AttachedBody::AttachedBody(const LinkModel* parent_link_model, const std::string& id,
                                         const std::vector<shapes::ShapeConstPtr>& shapes,
                                         const EigenSTL::vector_Affine3d& attach_trans,
                                         const std::set<std::string>& touch_links,
                                         const trajectory_msgs::JointTrajectory& detach_posture)
  : parent_link_model_(parent_link_model)
  , id_(id)
  , shapes_(shapes)
  , attach_trans_(attach_trans)
  , touch_links_(touch_links)
  , detach_posture_(detach_posture)
{
  global_collision_body_transforms_.resize(attach_trans.size());
  for (std::size_t i = 0; i < global_collision_body_transforms_.size(); ++i)
    global_collision_body_transforms_[i].setIdentity();
}

moveit::core::AttachedBody::~AttachedBody() = default;

void moveit::core::AttachedBody::setScale(double scale)
{
  for (std::size_t i = 0; i < shapes_.size(); ++i)
  {
    // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
    if (shapes_[i].unique())
      const_cast<shapes::Shape*>(shapes_[i].get())->scale(scale);
    else
    {
      // if the shape is owned elsewhere, we make a copy:
      shapes::Shape* copy = shapes_[i]->clone();
      copy->scale(scale);
      shapes_[i].reset(copy);
    }
  }
}

void moveit::core::AttachedBody::setPadding(double padding)
{
  for (std::size_t i = 0; i < shapes_.size(); ++i)
  {
    // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
    if (shapes_[i].unique())
      const_cast<shapes::Shape*>(shapes_[i].get())->padd(padding);
    else
    {
      // if the shape is owned elsewhere, we make a copy:
      shapes::Shape* copy = shapes_[i]->clone();
      copy->padd(padding);
      shapes_[i].reset(copy);
    }
  }
}