link_model.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_

#include <string>
#include <vector>
#include <utility>
#include <map>
#include <Eigen/Geometry>
#include <eigen_stl_containers/eigen_stl_vector_container.h>
#include <moveit/macros/class_forward.h>

namespace shapes
{
MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
}

namespace moveit
{
namespace core
{
class JointModel;
class LinkModel;

typedef std::map<std::string, LinkModel*> LinkModelMap;

typedef std::map<std::string, const LinkModel*> LinkModelMapConst;

typedef std::map<const LinkModel*, Eigen::Isometry3d, std::less<const LinkModel*>,
                 Eigen::aligned_allocator<std::pair<const LinkModel* const, Eigen::Isometry3d> > >
    LinkTransformMap;

class LinkModel
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  LinkModel(const std::string& name);
  ~LinkModel();

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

  int getLinkIndex() const
  {
    return link_index_;
  }

  void setLinkIndex(int index)
  {
    link_index_ = index;
  }

  int getFirstCollisionBodyTransformIndex() const
  {
    return first_collision_body_transform_index_;
  }

  void setFirstCollisionBodyTransformIndex(int index)
  {
    first_collision_body_transform_index_ = index;
  }

  const JointModel* getParentJointModel() const
  {
    return parent_joint_model_;
  }

  void setParentJointModel(const JointModel* joint);

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

  void setParentLinkModel(const LinkModel* link)
  {
    parent_link_model_ = link;
  }

  const std::vector<const JointModel*>& getChildJointModels() const
  {
    return child_joint_models_;
  }

  void addChildJointModel(const JointModel* joint)
  {
    child_joint_models_.push_back(joint);
  }

  const Eigen::Isometry3d& getJointOriginTransform() const
  {
    return joint_origin_transform_;
  }

  bool jointOriginTransformIsIdentity() const
  {
    return joint_origin_transform_is_identity_;
  }

  bool parentJointIsFixed() const
  {
    return is_parent_joint_fixed_;
  }

  void setJointOriginTransform(const Eigen::Isometry3d& transform);

  const EigenSTL::vector_Isometry3d& getCollisionOriginTransforms() const
  {
    return collision_origin_transform_;
  }

  const std::vector<int>& areCollisionOriginTransformsIdentity() const
  {
    return collision_origin_transform_is_identity_;
  }

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

  void setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Isometry3d& origins);

  const Eigen::Vector3d& getShapeExtentsAtOrigin() const
  {
    return shape_extents_;
  }

  const Eigen::Vector3d& getCenteredBoundingBoxOffset() const
  {
    return centered_bounding_box_offset_;
  }

  const LinkTransformMap& getAssociatedFixedTransforms() const
  {
    return associated_fixed_transforms_;
  }

  void addAssociatedFixedTransform(const LinkModel* link_model, const Eigen::Isometry3d& transform)
  {
    associated_fixed_transforms_[link_model] = transform;
  }

  const std::string& getVisualMeshFilename() const
  {
    return visual_mesh_filename_;
  }

  const Eigen::Vector3d& getVisualMeshScale() const
  {
    return visual_mesh_scale_;
  }

  const Eigen::Isometry3d& getVisualMeshOrigin() const
  {
    return visual_mesh_origin_;
  }

  void setVisualMesh(const std::string& visual_mesh, const Eigen::Isometry3d& origin, const Eigen::Vector3d& scale);

private:
  std::string name_;

  const JointModel* parent_joint_model_;

  const LinkModel* parent_link_model_;

  std::vector<const JointModel*> child_joint_models_;

  bool is_parent_joint_fixed_;

  bool joint_origin_transform_is_identity_;

  Eigen::Isometry3d joint_origin_transform_;

  EigenSTL::vector_Isometry3d collision_origin_transform_;

  std::vector<int> collision_origin_transform_is_identity_;

  LinkTransformMap associated_fixed_transforms_;

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

  Eigen::Vector3d shape_extents_;

  Eigen::Vector3d centered_bounding_box_offset_;

  std::string visual_mesh_filename_;

  Eigen::Isometry3d visual_mesh_origin_;

  Eigen::Vector3d visual_mesh_scale_;

  int first_collision_body_transform_index_;

  int link_index_;
};
}  // namespace core
}  // namespace moveit

#endif