link_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_

#include <string>
#include <vector>
#include <utility>
#include <map>
#include <Eigen/Geometry>
#include <geometric_shapes/shapes.h>
#include <eigen_stl_containers/eigen_stl_vector_container.h>

namespace moveit
{

namespace core
{

class JointModel;
class LinkModel;


typedef std::map<std::string, LinkModel*> LinkModelMap;

typedef std::map<std::string, const LinkModel*> LinkModelMapConst;

typedef std::map<const LinkModel*, Eigen::Affine3d, std::less<const LinkModel*>,
                 Eigen::aligned_allocator<std::pair<const LinkModel*, Eigen::Affine3d> > > LinkTransformMap;


class LinkModel
{
public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  LinkModel(const std::string &name);
  ~LinkModel();

  const std::string& getName() const
  {
    return name_;
  }

  int getLinkIndex() const
  {
    return link_index_;
  }

  void setLinkIndex(int index)
  {
    link_index_ = index;
  }
  
  int getFirstCollisionBodyTransformIndex() const
  {
    return first_collision_body_transform_index_;
  }

  void setFirstCollisionBodyTransformIndex(int index) 
  {
    first_collision_body_transform_index_ = index;
  }
 
  const JointModel* getParentJointModel() const
  {
    return parent_joint_model_;
  }

  void setParentJointModel(const JointModel *joint);

  const LinkModel* getParentLinkModel() const
  {
    return parent_link_model_;
  }

  void setParentLinkModel(const LinkModel *link)
  {
    parent_link_model_ = link;
  }
  
  const std::vector<const JointModel*>& getChildJointModels() const
  {
    return child_joint_models_;
  }

  void addChildJointModel(const JointModel *joint)
  {
    child_joint_models_.push_back(joint);
  }
  
  const Eigen::Affine3d& getJointOriginTransform() const
  {
    return joint_origin_transform_;
  }
  
  bool jointOriginTransformIsIdentity() const
  {
    return joint_origin_transform_is_identity_;
  }
  
  bool parentJointIsFixed() const
  {
    return is_parent_joint_fixed_;
  }
  
  void setJointOriginTransform(const Eigen::Affine3d &transform);
  
  const EigenSTL::vector_Affine3d& getCollisionOriginTransforms() const
  {
    return collision_origin_transform_;
  }

  const std::vector<int>& areCollisionOriginTransformsIdentity() const
  {
    return collision_origin_transform_is_identity_;
  }

  const std::vector<shapes::ShapeConstPtr>& getShapes() const
  {
    return shapes_;
  }

  void setGeometry(const std::vector<shapes::ShapeConstPtr> &shapes, const EigenSTL::vector_Affine3d &origins);
  
  const Eigen::Vector3d& getShapeExtentsAtOrigin() const
  {
    return shape_extents_;
  }

  const LinkTransformMap& getAssociatedFixedTransforms() const
  {
    return associated_fixed_transforms_;
  }

  void addAssociatedFixedTransform(const LinkModel *link_model, const Eigen::Affine3d &transform)
  {
    associated_fixed_transforms_[link_model] = transform;
  }
  
  const std::string& getVisualMeshFilename() const
  {
    return visual_mesh_filename_;
  }

  const Eigen::Vector3d& getVisualMeshScale() const
  {
    return visual_mesh_scale_;
  }

  const Eigen::Affine3d& getVisualMeshOrigin() const
  {
    return visual_mesh_origin_;
  }
  
  void setVisualMesh(const std::string &visual_mesh, const Eigen::Affine3d &origin, const Eigen::Vector3d &scale);
  
private:

  std::string                        name_;

  const JointModel                  *parent_joint_model_;

  const LinkModel                   *parent_link_model_;
  
  std::vector<const JointModel*>     child_joint_models_;

  bool                               is_parent_joint_fixed_;
  
  bool                               joint_origin_transform_is_identity_;
  
  Eigen::Affine3d                    joint_origin_transform_;

  EigenSTL::vector_Affine3d          collision_origin_transform_;

  std::vector<int>                   collision_origin_transform_is_identity_;
  
  LinkTransformMap                   associated_fixed_transforms_;
  
  std::vector<shapes::ShapeConstPtr> shapes_;

  Eigen::Vector3d                    shape_extents_;

  std::string                        visual_mesh_filename_;

  Eigen::Affine3d                    visual_mesh_origin_;
  
  Eigen::Vector3d                    visual_mesh_scale_;

  int                                first_collision_body_transform_index_;

  int                                link_index_;

};
}
}

#endif