replace_joint_command.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/commands/replace_joint_command.h>
#include <tesseract_common/utils.h>
#include <tesseract_scene_graph/joint.h>
 
namespace tesseract_environment
{
ReplaceJointCommand::ReplaceJointCommand() : Command(CommandType::REPLACE_JOINT) {}
 
ReplaceJointCommand::ReplaceJointCommand(const tesseract_scene_graph::Joint& joint)
  : Command(CommandType::REPLACE_JOINT), joint_(std::make_shared<tesseract_scene_graph::Joint>(joint.clone()))
{
  if (joint_->type != tesseract_scene_graph::JointType::FIXED)
  {
    //      if ()
  }
}
 
const tesseract_scene_graph::Joint::ConstPtr& ReplaceJointCommand::getJoint() const { return joint_; }
 
bool ReplaceJointCommand::operator==(const ReplaceJointCommand& rhs) const
{
  bool equal = true;
  equal &= Command::operator==(rhs);
  equal &= tesseract_common::pointersEqual(joint_, rhs.joint_);
  return equal;
}
bool ReplaceJointCommand::operator!=(const ReplaceJointCommand& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void ReplaceJointCommand::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Command);
  ar& BOOST_SERIALIZATION_NVP(joint_);
}
}  // namespace tesseract_environment
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::ReplaceJointCommand)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::ReplaceJointCommand)