robot_model_loader.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_MODELS_LOADER_ROBOT_MODEL_LOADER_
#define MOVEIT_PLANNING_MODELS_LOADER_ROBOT_MODEL_LOADER_

#include <moveit/robot_model/robot_model.h>
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/kinematics_plugin_loader/kinematics_plugin_loader.h>

namespace robot_model_loader
{

class RobotModelLoader
{
public:

  struct Options
  {
    Options(const std::string &robot_description = "robot_description") :
      robot_description_(robot_description),
      urdf_doc_(NULL),
      srdf_doc_(NULL),
      load_kinematics_solvers_(true)
    {
    }

    Options(const std::string &urdf_string, const std::string &srdf_string) :
      urdf_string_(urdf_string),
      srdf_string_(srdf_string),
      urdf_doc_(NULL),
      srdf_doc_(NULL),
      load_kinematics_solvers_(true)
    {
    }

    Options(TiXmlDocument *urdf_doc, TiXmlDocument *srdf_doc) :
      urdf_doc_(urdf_doc),
      srdf_doc_(srdf_doc),
      load_kinematics_solvers_(true)
    {
    }

    std::string robot_description_;

    std::string urdf_string_, srdf_string_;

    TiXmlDocument *urdf_doc_, *srdf_doc_;

    bool load_kinematics_solvers_;

  };


  RobotModelLoader(const Options &opt = Options());

  RobotModelLoader(const std::string &robot_description, bool load_kinematics_solvers = true);

  ~RobotModelLoader();

  const robot_model::RobotModelPtr& getModel() const
  {
    return model_;
  }

  const std::string& getRobotDescription() const
  {
    return rdf_loader_->getRobotDescription();
  }

  const boost::shared_ptr<urdf::ModelInterface>& getURDF() const
  {
    return rdf_loader_->getURDF();
  }

  const boost::shared_ptr<srdf::Model>& getSRDF() const
  {
    return rdf_loader_->getSRDF();
  }

  const rdf_loader::RDFLoaderPtr& getRDFLoader() const
  {
    return rdf_loader_;
  }

  const kinematics_plugin_loader::KinematicsPluginLoaderPtr& getKinematicsPluginLoader() const
  {
    return kinematics_loader_;
  }

  std::map<std::string, kinematics::KinematicsBasePtr> generateKinematicsSolversMap() const;

  void loadKinematicsSolvers(const kinematics_plugin_loader::KinematicsPluginLoaderPtr &kloader = kinematics_plugin_loader::KinematicsPluginLoaderPtr());

private:

  void configure(const Options &opt);

  robot_model::RobotModelPtr model_;
  rdf_loader::RDFLoaderPtr rdf_loader_;
  kinematics_plugin_loader::KinematicsPluginLoaderPtr kinematics_loader_;

};

typedef boost::shared_ptr<RobotModelLoader> RobotModelLoaderPtr;
typedef boost::shared_ptr<const RobotModelLoader> RobotModelLoaderConstPtr;

}
#endif