attached_body.h
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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 class AttachedBody;
00051 typedef boost::function<void(AttachedBody* body, bool attached)> AttachedBodyCallback;
00052 
00056 class AttachedBody
00057 {
00058 public:
00063   AttachedBody(const LinkModel* link, const std::string& id, const std::vector<shapes::ShapeConstPtr>& shapes,
00064                const EigenSTL::vector_Affine3d& attach_trans, const std::set<std::string>& touch_links,
00065                const trajectory_msgs::JointTrajectory& attach_posture);
00066 
00067   ~AttachedBody();
00068 
00070   const std::string& getName() const
00071   {
00072     return id_;
00073   }
00074 
00076   const std::string& getAttachedLinkName() const
00077   {
00078     return parent_link_model_->getName();
00079   }
00080 
00082   const LinkModel* getAttachedLink() const
00083   {
00084     return parent_link_model_;
00085   }
00086 
00088   const std::vector<shapes::ShapeConstPtr>& getShapes() const
00089   {
00090     return shapes_;
00091   }
00092 
00096   const std::set<std::string>& getTouchLinks() const
00097   {
00098     return touch_links_;
00099   }
00100 
00104   const trajectory_msgs::JointTrajectory& getDetachPosture() const
00105   {
00106     return detach_posture_;
00107   }
00108 
00109   const EigenSTL::vector_Affine3d& getFixedTransforms() const
00110   {
00111     return attach_trans_;
00112   }
00113 
00115   const EigenSTL::vector_Affine3d& getGlobalCollisionBodyTransforms() const
00116   {
00117     return global_collision_body_transforms_;
00118   }
00119 
00121   void setPadding(double padding);
00122 
00124   void setScale(double scale);
00125 
00127   void computeTransform(const Eigen::Affine3d& parent_link_global_transform)
00128   {
00129     for (std::size_t i = 0; i < global_collision_body_transforms_.size(); ++i)
00130       global_collision_body_transforms_[i] = parent_link_global_transform * attach_trans_[i];
00131   }
00132 
00133 private:
00135   const LinkModel* parent_link_model_;
00136 
00138   std::string id_;
00139 
00141   std::vector<shapes::ShapeConstPtr> shapes_;
00142 
00144   EigenSTL::vector_Affine3d attach_trans_;
00145 
00147   std::set<std::string> touch_links_;
00148 
00151   trajectory_msgs::JointTrajectory detach_posture_;
00152 
00154   EigenSTL::vector_Affine3d global_collision_body_transforms_;
00155 };
00156 }
00157 }
00158 
00159 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45