00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_ROBOT_STATE_ATTACHED_BODY_ 00038 #define MOVEIT_ROBOT_STATE_ATTACHED_BODY_ 00039 00040 #include <moveit/robot_model/link_model.h> 00041 #include <eigen_stl_containers/eigen_stl_containers.h> 00042 #include <boost/function.hpp> 00043 #include <trajectory_msgs/JointTrajectory.h> 00044 #include <set> 00045 00046 namespace moveit 00047 { 00048 namespace core 00049 { 00050 00051 class AttachedBody; 00052 typedef boost::function<void(AttachedBody *body, bool attached)> AttachedBodyCallback; 00053 00057 class AttachedBody 00058 { 00059 public: 00060 00063 AttachedBody(const LinkModel *link, const std::string &id, 00064 const std::vector<shapes::ShapeConstPtr> &shapes, 00065 const EigenSTL::vector_Affine3d &attach_trans, 00066 const std::set<std::string> &touch_links, 00067 const trajectory_msgs::JointTrajectory &attach_posture); 00068 00069 ~AttachedBody(); 00070 00072 const std::string& getName() const 00073 { 00074 return id_; 00075 } 00076 00078 const std::string& getAttachedLinkName() const 00079 { 00080 return parent_link_model_->getName(); 00081 } 00082 00084 const LinkModel* getAttachedLink() const 00085 { 00086 return parent_link_model_; 00087 } 00088 00090 const std::vector<shapes::ShapeConstPtr>& getShapes() const 00091 { 00092 return shapes_; 00093 } 00094 00098 const std::set<std::string>& getTouchLinks() const 00099 { 00100 return touch_links_; 00101 } 00102 00105 const trajectory_msgs::JointTrajectory& getDetachPosture() const 00106 { 00107 return detach_posture_; 00108 } 00109 00110 const EigenSTL::vector_Affine3d& getFixedTransforms() const 00111 { 00112 return attach_trans_; 00113 } 00114 00116 const EigenSTL::vector_Affine3d& getGlobalCollisionBodyTransforms() const 00117 { 00118 return global_collision_body_transforms_; 00119 } 00120 00122 void setPadding(double padding); 00123 00125 void setScale(double scale); 00126 00128 void computeTransform(const Eigen::Affine3d &parent_link_global_transform) 00129 { 00130 for (std::size_t i = 0; i < global_collision_body_transforms_.size() ; ++i) 00131 global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i]; 00132 } 00133 00134 private: 00135 00137 const LinkModel *parent_link_model_; 00138 00140 std::string id_; 00141 00143 std::vector<shapes::ShapeConstPtr> shapes_; 00144 00146 EigenSTL::vector_Affine3d attach_trans_; 00147 00149 std::set<std::string> touch_links_; 00150 00153 trajectory_msgs::JointTrajectory detach_posture_; 00154 00156 EigenSTL::vector_Affine3d global_collision_body_transforms_; 00157 }; 00158 00159 } 00160 } 00161 00162 #endif