model.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, 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 the Willow Garage 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 SRDF_MODEL_
#define SRDF_MODEL_

#include <map>
#include <string>
#include <vector>
#include <utility>
#include <urdf_interface/model.h>
#include <tinyxml.h>

namespace srdf
{

class Model
{
public:
  
  Model(void)
  {
  }
  
  ~Model(void)
  {
  }
  
  bool initXml(const urdf::ModelInterface &urdf_model, TiXmlElement *xml);
  bool initXml(const urdf::ModelInterface &urdf_model, TiXmlDocument *xml);
  bool initFile(const urdf::ModelInterface &urdf_model, const std::string& filename);
  bool initString(const urdf::ModelInterface &urdf_model, const std::string& xmlstring);
  
  struct Group
  {
    std::string                                       name_;
    
    std::vector<std::string>                          joints_;
    
    std::vector<std::string>                          links_;
    
    std::vector<std::pair<std::string, std::string> > chains_;
    
    std::vector<std::string>                          subgroups_;
  };
  
  struct VirtualJoint
  {
    std::string name_;
    
    std::string type_;
    
    std::string parent_frame_;
    
    std::string child_link_;
  };
  
  struct EndEffector
  {
    std::string name_;
    
    std::string parent_link_;
    
    std::string component_group_;
  };
  
  struct GroupState
  {
    std::string                                 name_;
    
    std::string                                 group_;
    
    std::map<std::string, std::vector<double> > joint_values_;
  };
  
  const std::string& getName(void) const
  {
    return name_;
  }
  
  const std::vector<std::pair<std::string, std::string> >& getDisabledCollisions(void) const
  {
    return disabled_collisions_;
  }
  
  const std::vector<Group>& getGroups(void) const
  {
    return groups_;
  }
  
  const std::vector<VirtualJoint>& getVirtualJoints(void) const
  {
    return virtual_joints_;
  }
  
  const std::vector<EndEffector>& getEndEffectors(void) const
  {
    return end_effectors_;
  }
  
  const std::vector<GroupState>& getGroupStates(void) const
  {
    return group_states_;
  }
  
  void clear(void);
  
private:
  
  void loadVirtualJoints(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadGroups(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadGroupStates(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadEndEffectors(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  void loadDisabledCollisions(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
  
  std::string                                       name_;
  std::vector<Group>                                groups_;
  std::vector<GroupState>                           group_states_;
  std::vector<VirtualJoint>                         virtual_joints_;
  std::vector<EndEffector>                          end_effectors_;
  std::vector<std::pair<std::string, std::string> > disabled_collisions_;
};

}
#endif