robotconfiguration.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * 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 ROBOTCONFIGURATION_H
#define ROBOTCONFIGURATION_H

#include <string>

#include <moveit/robot_model/robot_model.h>

#include "goalconstraintsmsgconvertible.h"
#include "robotstatemsgconvertible.h"

namespace pilz_industrial_motion_testutils
{
class RobotConfiguration : public RobotStateMsgConvertible, public GoalConstraintMsgConvertible
{
public:
  RobotConfiguration();

  RobotConfiguration(const std::string& group_name);

  RobotConfiguration(const std::string& group_name, const moveit::core::RobotModelConstPtr& robot_model);

public:
  void setRobotModel(moveit::core::RobotModelConstPtr robot_model);
  void setGroupName(const std::string& group_name);
  std::string getGroupName() const;
  void clearModel();

protected:
  std::string group_name_;
  moveit::core::RobotModelConstPtr robot_model_;
};

inline void RobotConfiguration::setRobotModel(moveit::core::RobotModelConstPtr robot_model)
{
  robot_model_ = robot_model;
}

inline void RobotConfiguration::setGroupName(const std::string& group_name)
{
  group_name_ = group_name;
}

inline std::string RobotConfiguration::getGroupName() const
{
  return group_name_;
}

inline void RobotConfiguration::clearModel()
{
  robot_model_ = nullptr;
}

}  // namespace pilz_industrial_motion_testutils

#endif  // ROBOTCONFIGURATION_H