srdf_writer.h

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/* Author: Dave Coleman */
#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_SRDF_WRITER_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_SRDF_WRITER_


#include <boost/shared_ptr.hpp>
#include <srdfdom/model.h> // use their struct datastructures

namespace moveit_setup_assistant
{

// ******************************************************************************************
// ******************************************************************************************
// Class
// ******************************************************************************************
// ******************************************************************************************

class SRDFWriter
{
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
  SRDFWriter();

  ~SRDFWriter();

  bool initString( const urdf::ModelInterface &robot_model, const std::string &srdf_string );

  void initModel( const urdf::ModelInterface &robot_model, const srdf::Model &srdf_model );

  void updateSRDFModel( const urdf::ModelInterface &robot_model );

  bool writeSRDF( const std::string &file_path );

  std::string getSRDFString();

  TiXmlDocument generateSRDF();

  void createGroupsXML( TiXmlElement *root );

  void createLinkSphereApproximationsXML( TiXmlElement *root );

  void createDisabledCollisionsXML( TiXmlElement *root );

  void createGroupStatesXML( TiXmlElement *root );

  void createEndEffectorsXML( TiXmlElement *root );

  void createVirtualJointsXML( TiXmlElement *root );

  void createPassiveJointsXML( TiXmlElement *root );

  // ******************************************************************************************
  // Group Datastructures
  // ******************************************************************************************

  std::vector<srdf::Model::Group>             groups_;
  std::vector<srdf::Model::GroupState>        group_states_;
  std::vector<srdf::Model::VirtualJoint>      virtual_joints_;
  std::vector<srdf::Model::EndEffector>       end_effectors_;
  std::vector<srdf::Model::LinkSpheres>       link_sphere_approximations_;
  std::vector<srdf::Model::DisabledCollision> disabled_collisions_;
  std::vector<srdf::Model::PassiveJoint>      passive_joints_;

  // Store the SRDF Model for updating the kinematic_model
  boost::shared_ptr<srdf::Model>                 srdf_model_;

  // Robot name
  std::string robot_name_;

};

// ******************************************************************************************
// Typedef
// ******************************************************************************************

typedef boost::shared_ptr<SRDFWriter> SRDFWriterPtr;


}

#endif