attached_body.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_ROBOT_STATE_ATTACHED_BODY_
#define MOVEIT_ROBOT_STATE_ATTACHED_BODY_

#include <moveit/robot_model/link_model.h>
#include <eigen_stl_containers/eigen_stl_containers.h>
#include <boost/function.hpp>
#include <trajectory_msgs/JointTrajectory.h>
#include <set>

namespace moveit
{
namespace core
{
class AttachedBody;
typedef boost::function<void(AttachedBody* body, bool attached)> AttachedBodyCallback;

class AttachedBody
{
public:
  AttachedBody(const LinkModel* link, 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& attach_posture);

  ~AttachedBody();

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

  const std::string& getAttachedLinkName() const
  {
    return parent_link_model_->getName();
  }

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

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

  const std::set<std::string>& getTouchLinks() const
  {
    return touch_links_;
  }

  const trajectory_msgs::JointTrajectory& getDetachPosture() const
  {
    return detach_posture_;
  }

  const EigenSTL::vector_Affine3d& getFixedTransforms() const
  {
    return attach_trans_;
  }

  const EigenSTL::vector_Affine3d& getGlobalCollisionBodyTransforms() const
  {
    return global_collision_body_transforms_;
  }

  void setPadding(double padding);

  void setScale(double scale);

  void computeTransform(const Eigen::Affine3d& parent_link_global_transform)
  {
    for (std::size_t i = 0; i < global_collision_body_transforms_.size(); ++i)
      global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];
  }

private:
  const LinkModel* parent_link_model_;

  std::string id_;

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

  EigenSTL::vector_Affine3d attach_trans_;

  std::set<std::string> touch_links_;

  trajectory_msgs::JointTrajectory detach_posture_;

  EigenSTL::vector_Affine3d global_collision_body_transforms_;
};
}
}

#endif