link_state.cpp

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/* Author: Ioan Sucan, E. Gil Jones */

#include <moveit/robot_state/link_state.h>
#include <moveit/robot_state/robot_state.h>

robot_state::LinkState::LinkState(RobotState *state, const robot_model::LinkModel* lm) :
  robot_state_(state), link_model_(lm), parent_joint_state_(NULL), parent_link_state_(NULL)
{
  global_link_transform_.setIdentity();
  global_collision_body_transform_.setIdentity();
}

robot_state::LinkState::~LinkState()
{
}

void robot_state::LinkState::computeTransformForward(const Eigen::Affine3d& parent_transform)
{
  global_link_transform_ = parent_transform;

  // do fwd transforms
  const std::vector<robot_model::JointModel*> &child_jmodels = link_model_->getChildJointModels();
  for (std::size_t i = 0 ; i < child_jmodels.size() ; ++i)
    robot_state_->getLinkState(child_jmodels[i]->getChildLinkModel()->getName())->computeTransformForward(this);

  computeGeometryTransforms();
}

void robot_state::LinkState::computeTransformForward(const LinkState *parent_link)
{
  global_link_transform_ = parent_link->global_link_transform_ * link_model_->getJointOriginTransform() * parent_joint_state_->getVariableTransform();

  // do fwd transforms
  const std::vector<robot_model::JointModel*> &child_jmodels = link_model_->getChildJointModels();
  for (std::size_t i = 0 ; i < child_jmodels.size() ; ++i)
    robot_state_->getLinkState(child_jmodels[i]->getChildLinkModel()->getName())->computeTransformForward(this);

  computeGeometryTransforms();
}

void robot_state::LinkState::computeTransformBackward(const LinkState *child_link)
{
  global_link_transform_ = child_link->global_link_transform_ * (child_link->link_model_->getJointOriginTransform() * child_link->parent_joint_state_->getVariableTransform()).inverse();
  if (parent_link_state_)
    parent_link_state_->computeTransformBackward(this);
  else
    parent_joint_state_->setVariableValues(global_link_transform_);

  // do fwd transforms
  const std::vector<robot_model::JointModel*> &child_jmodels = link_model_->getChildJointModels();
  for (std::size_t i = 0 ; i < child_jmodels.size() ; ++i)
  {
    LinkState *child = robot_state_->getLinkState(child_jmodels[i]->getChildLinkModel()->getName());
    if (child != child_link)
      child->computeTransformForward(this);
  }

  computeGeometryTransforms();
}

void robot_state::LinkState::computeTransformBackward(const Eigen::Affine3d& child_transform)
{
  global_link_transform_ = child_transform;
  if (parent_link_state_)
    parent_link_state_->computeTransformBackward(this);
  else
    parent_joint_state_->setVariableValues(global_link_transform_);
  // do fwd transforms
  const std::vector<robot_model::JointModel*> &child_jmodels = link_model_->getChildJointModels();
  for (std::size_t i = 0 ; i < child_jmodels.size() ; ++i)
    robot_state_->getLinkState(child_jmodels[i]->getChildLinkModel()->getName())->computeTransformForward(this);

  computeGeometryTransforms();
}

void robot_state::LinkState::computeGeometryTransforms()
{
  global_collision_body_transform_ = global_link_transform_ * link_model_->getCollisionOriginTransform();
  updateAttachedBodies();
}

void robot_state::LinkState::computeTransform()
{
  global_link_transform_ = (parent_link_state_ ? parent_link_state_->global_link_transform_ : robot_state_->getRootTransform())
    * link_model_->getJointOriginTransform() * parent_joint_state_->getVariableTransform();
  computeGeometryTransforms();
}

void robot_state::LinkState::updateAttachedBodies()
{
  for (std::map<std::string, AttachedBody*>::const_iterator it = attached_body_map_.begin() ; it != attached_body_map_.end() ;  ++it)
    it->second->computeTransform(global_link_transform_);
}

bool robot_state::LinkState::hasAttachedBody(const std::string &id) const
{
  return attached_body_map_.find(id) != attached_body_map_.end();
}

const robot_state::AttachedBody* robot_state::LinkState::getAttachedBody(const std::string &id) const
{
  std::map<std::string, AttachedBody*>::const_iterator it = attached_body_map_.find(id);
  if (it == attached_body_map_.end())
  {
    logError("Attached body '%s' not found on link '%s'", id.c_str(), getName().c_str());
    return NULL;
  }
  else
    return it->second;
}

void robot_state::LinkState::getAttachedBodies(std::vector<const AttachedBody*> &attached_bodies) const
{
  attached_bodies.clear();
  attached_bodies.reserve(attached_body_map_.size());
  for (std::map<std::string, AttachedBody*>::const_iterator it = attached_body_map_.begin() ; it != attached_body_map_.end() ;  ++it)
    attached_bodies.push_back(it->second);
}