kinematic_options_map.h

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/* Author: Acorn Pooley */

#ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
#define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_

#include <moveit/robot_interaction/kinematic_options.h>
#include <boost/thread.hpp>
#include <boost/function.hpp>

namespace robot_interaction
{

// Maintains a set of KinematicOptions with a key/value mapping and a default
// value.
class KinematicOptionsMap
{
public:
  KinematicOptionsMap();

  static const std::string DEFAULT;

  static const std::string ALL;

  bool setStateFromIK(robot_state::RobotState& state,
                      const std::string& key,
                      const std::string& group,
                      const std::string& tip,
                      const geometry_msgs::Pose& pose) const;

  KinematicOptions getOptions(const std::string& key) const;

  void setOptions(
          const std::string& key,
          const KinematicOptions& options,
          KinematicOptions::OptionBitmask fields = KinematicOptions::ALL);

  void merge(const KinematicOptionsMap& other);

private:
  // this protects all members.
  mutable boost::mutex lock_;

  // default kinematic options.
  // PROTECTED BY lock_
  KinematicOptions defaults_;

  typedef std::map<std::string, KinematicOptions> M_options;

  // per key kinematic options.
  // If key is not here, defaults are used.
  // PROTECTED BY lock_
  M_options options_;
};

}

#endif