urdf.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "forwards.h"
#include "scene_object_collection.h"

#include <rve_msgs/Vector3.h>
#include <rve_msgs/Quaternion.h>

#include <boost/function.hpp>

namespace urdf
{
class Model;
class Link;
class Geometry;
class Pose;
}

namespace rve_render_client
{

class URDFLink : public SceneObjectCollection
{
public:
  ~URDFLink();

  void setTransform(const rve_msgs::Vector3& pos, const rve_msgs::Quaternion& orient);
  const std::string& getName() { return name_; }

private:
  URDFLink(const urdf::Model& model, const urdf::Link& link);

  struct VisualInfo;
  void loadInfo(VisualInfo& info, const urdf::Model& model, const urdf::Link& link, const urdf::Geometry& geom, const urdf::Pose& origin);

  std::string name_;

  rve_msgs::Vector3 position_;
  rve_msgs::Quaternion orientation_;

  struct VisualInfo
  {
    rve_msgs::Vector3 offset_position_;
    rve_msgs::Quaternion offset_orientation_;
  };

  VisualInfo visual_;
  VisualInfo collision_;

  boost::function<void(const rve_msgs::Vector3&)> set_position_;
  boost::function<void(const rve_msgs::Quaternion&)> set_orientation_;

  friend class URDF;
};
typedef boost::shared_ptr<URDFLink> URDFLinkPtr;

class URDF : public SceneObjectCollection
{
public:
  void load(const urdf::Model& model);
  void clear();

  typedef std::vector<URDFLinkPtr> V_Link;
  typedef V_Link::iterator LinkIterator;
  LinkIterator linksBegin() { return links_.begin(); }
  LinkIterator linksEnd() { return links_.end(); }

private:
  URDF(const urdf::Model& model);
  ~URDF();

  V_Link links_;

  friend URDFPtr createURDF(const urdf::Model& model);
};

URDFPtr createURDF(const urdf::Model& model);

} // namespace rve_render_client