mutable_state_solver.h

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#ifndef TESSERACT_STATE_SOLVER_MUTABLE_STATE_SOLVER_H
#define TESSERACT_STATE_SOLVER_MUTABLE_STATE_SOLVER_H
 
#include <tesseract_state_solver/state_solver.h>
 
namespace tesseract_scene_graph
{
class MutableStateSolver : public StateSolver
{
public:
  using Ptr = std::shared_ptr<MutableStateSolver>;
  using ConstPtr = std::shared_ptr<const MutableStateSolver>;
  using UPtr = std::unique_ptr<MutableStateSolver>;
  using ConstUPtr = std::unique_ptr<const MutableStateSolver>;
 
  MutableStateSolver() = default;
  ~MutableStateSolver() override = default;
  MutableStateSolver(const MutableStateSolver&) = default;
  MutableStateSolver& operator=(const MutableStateSolver&) = default;
  MutableStateSolver(MutableStateSolver&&) = default;
  MutableStateSolver& operator=(MutableStateSolver&&) = default;
 
  virtual void setRevision(int revision) = 0;
 
  virtual int getRevision() const = 0;
 
  virtual bool addLink(const Link& link, const Joint& joint) = 0;
 
  virtual bool moveLink(const Joint& joint) = 0;
 
  virtual bool removeLink(const std::string& name) = 0;
 
  virtual bool replaceJoint(const Joint& joint) = 0;
 
  virtual bool removeJoint(const std::string& name) = 0;
 
  virtual bool moveJoint(const std::string& name, const std::string& parent_link) = 0;
 
  virtual bool changeJointOrigin(const std::string& name, const Eigen::Isometry3d& new_origin) = 0;
 
  virtual bool changeJointPositionLimits(const std::string& name, double lower, double upper) = 0;
 
  virtual bool changeJointVelocityLimits(const std::string& name, double limit) = 0;
 
  virtual bool changeJointAccelerationLimits(const std::string& name, double limit) = 0;
 
  virtual bool changeJointJerkLimits(const std::string& name, double limit) = 0;
 
  virtual bool insertSceneGraph(const SceneGraph& scene_graph, const Joint& joint, const std::string& prefix = "") = 0;
};
}  // namespace tesseract_scene_graph
 
#endif  // TESSERACT_STATE_SOLVER_MUTABLE_STATE_SOLVER_H