link_state.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_ROBOT_STATE_LINK_STATE_
#define MOVEIT_ROBOT_STATE_LINK_STATE_

#include <moveit/robot_model/link_model.h>
#include <eigen_stl_containers/eigen_stl_containers.h>

namespace robot_state
{

class RobotState;
class JointState;
class AttachedBody;

class LinkState
{
  friend class RobotState;
public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  LinkState(RobotState *state, const robot_model::LinkModel *lm);

  ~LinkState();

  const std::string& getName() const
  {
    return link_model_->getName();
  }

  const RobotState *getRobotState() const
  {
    return robot_state_;
  }

  RobotState *getRobotState()
  {
    return robot_state_;
  }

  void computeTransform();

  void computeTransformForward(const Eigen::Affine3d& transform);
  void computeTransformBackward(const Eigen::Affine3d& transform);

  void computeGeometryTransforms();

  void updateAttachedBodies();

  const robot_model::LinkModel* getLinkModel() const
  {
    return link_model_;
  }

  const JointState* getParentJointState() const
  {
    return parent_joint_state_;
  }

  const LinkState* getParentLinkState() const
  {
    return parent_link_state_;
  }

  void getAttachedBodies(std::vector<const AttachedBody*> &attached_bodies) const;

  const AttachedBody* getAttachedBody(const std::string &id) const;

  bool hasAttachedBody(const std::string &id) const;

  const Eigen::Affine3d& getGlobalLinkTransform() const
  {
    return global_link_transform_;
  }

  const Eigen::Affine3d& getGlobalCollisionBodyTransform() const
  {
    return global_collision_body_transform_;
  }

private:

  void computeTransformForward(const LinkState *parent_link);
  void computeTransformBackward(const LinkState *child_link);

  RobotState                          *robot_state_;

  const robot_model::LinkModel        *link_model_;

  JointState                          *parent_joint_state_;

  LinkState                           *parent_link_state_;

  std::map<std::string, AttachedBody*> attached_body_map_;

  Eigen::Affine3d                      global_link_transform_;

  Eigen::Affine3d                      global_collision_body_transform_;
};
}

#endif