robot_model_loader.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_MODELS_LOADER_ROBOT_MODEL_LOADER_
#define MOVEIT_PLANNING_MODELS_LOADER_ROBOT_MODEL_LOADER_

#include <moveit/macros/class_forward.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/kinematics_plugin_loader/kinematics_plugin_loader.h>

namespace robot_model_loader
{
MOVEIT_CLASS_FORWARD(RobotModelLoader);

class RobotModelLoader
{
public:
  struct Options
  {
    Options(const std::string& robot_description = "robot_description")
      : robot_description_(robot_description), urdf_doc_(NULL), srdf_doc_(NULL), load_kinematics_solvers_(true)
    {
    }

    Options(const std::string& urdf_string, const std::string& srdf_string)
      : urdf_string_(urdf_string)
      , srdf_string_(srdf_string)
      , urdf_doc_(NULL)
      , srdf_doc_(NULL)
      , load_kinematics_solvers_(true)
    {
    }

    Options(TiXmlDocument* urdf_doc, TiXmlDocument* srdf_doc)
      : urdf_doc_(urdf_doc), srdf_doc_(srdf_doc), load_kinematics_solvers_(true)
    {
    }

    std::string robot_description_;

    std::string urdf_string_, srdf_string_;

    TiXmlDocument *urdf_doc_, *srdf_doc_;

    bool load_kinematics_solvers_;
  };

  RobotModelLoader(const Options& opt = Options());

  RobotModelLoader(const std::string& robot_description, bool load_kinematics_solvers = true);

  ~RobotModelLoader();

  const robot_model::RobotModelPtr& getModel() const
  {
    return model_;
  }

  const std::string& getRobotDescription() const
  {
    return rdf_loader_->getRobotDescription();
  }

  const urdf::ModelInterfaceSharedPtr& getURDF() const
  {
    return rdf_loader_->getURDF();
  }

  const srdf::ModelSharedPtr& getSRDF() const
  {
    return rdf_loader_->getSRDF();
  }

  const rdf_loader::RDFLoaderPtr& getRDFLoader() const
  {
    return rdf_loader_;
  }

  const kinematics_plugin_loader::KinematicsPluginLoaderPtr& getKinematicsPluginLoader() const
  {
    return kinematics_loader_;
  }

  void loadKinematicsSolvers(const kinematics_plugin_loader::KinematicsPluginLoaderPtr& kloader =
                                 kinematics_plugin_loader::KinematicsPluginLoaderPtr());

private:
  void configure(const Options& opt);

  robot_model::RobotModelPtr model_;
  rdf_loader::RDFLoaderPtr rdf_loader_;
  kinematics_plugin_loader::KinematicsPluginLoaderPtr kinematics_loader_;
};
}
#endif