link_model.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_
00038 #define MOVEIT_CORE_ROBOT_MODEL_LINK_MODEL_
00039 
00040 #include <string>
00041 #include <vector>
00042 #include <utility>
00043 #include <map>
00044 #include <Eigen/Geometry>
00045 #include <geometric_shapes/shapes.h>
00046 #include <eigen_stl_containers/eigen_stl_vector_container.h>
00047 
00048 namespace moveit
00049 {
00050 namespace core
00051 {
00052 class JointModel;
00053 class LinkModel;
00054 
00056 typedef std::map<std::string, LinkModel*> LinkModelMap;
00057 
00059 typedef std::map<std::string, const LinkModel*> LinkModelMapConst;
00060 
00062 typedef std::map<const LinkModel*, Eigen::Affine3d, std::less<const LinkModel*>,
00063                  Eigen::aligned_allocator<std::pair<const LinkModel*, Eigen::Affine3d> > >
00064     LinkTransformMap;
00065 
00067 class LinkModel
00068 {
00069 public:
00070   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00071 
00072   LinkModel(const std::string& name);
00073   ~LinkModel();
00074 
00076   const std::string& getName() const
00077   {
00078     return name_;
00079   }
00080 
00082   int getLinkIndex() const
00083   {
00084     return link_index_;
00085   }
00086 
00087   void setLinkIndex(int index)
00088   {
00089     link_index_ = index;
00090   }
00091 
00092   int getFirstCollisionBodyTransformIndex() const
00093   {
00094     return first_collision_body_transform_index_;
00095   }
00096 
00097   void setFirstCollisionBodyTransformIndex(int index)
00098   {
00099     first_collision_body_transform_index_ = index;
00100   }
00101 
00103   const JointModel* getParentJointModel() const
00104   {
00105     return parent_joint_model_;
00106   }
00107 
00108   void setParentJointModel(const JointModel* joint);
00109 
00112   const LinkModel* getParentLinkModel() const
00113   {
00114     return parent_link_model_;
00115   }
00116 
00117   void setParentLinkModel(const LinkModel* link)
00118   {
00119     parent_link_model_ = link;
00120   }
00121 
00123   const std::vector<const JointModel*>& getChildJointModels() const
00124   {
00125     return child_joint_models_;
00126   }
00127 
00128   void addChildJointModel(const JointModel* joint)
00129   {
00130     child_joint_models_.push_back(joint);
00131   }
00132 
00137   const Eigen::Affine3d& getJointOriginTransform() const
00138   {
00139     return joint_origin_transform_;
00140   }
00141 
00142   bool jointOriginTransformIsIdentity() const
00143   {
00144     return joint_origin_transform_is_identity_;
00145   }
00146 
00147   bool parentJointIsFixed() const
00148   {
00149     return is_parent_joint_fixed_;
00150   }
00151 
00152   void setJointOriginTransform(const Eigen::Affine3d& transform);
00153 
00157   const EigenSTL::vector_Affine3d& getCollisionOriginTransforms() const
00158   {
00159     return collision_origin_transform_;
00160   }
00161 
00163   const std::vector<int>& areCollisionOriginTransformsIdentity() const
00164   {
00165     return collision_origin_transform_is_identity_;
00166   }
00167 
00169   const std::vector<shapes::ShapeConstPtr>& getShapes() const
00170   {
00171     return shapes_;
00172   }
00173 
00174   void setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Affine3d& origins);
00175 
00179   const Eigen::Vector3d& getShapeExtentsAtOrigin() const
00180   {
00181     return shape_extents_;
00182   }
00183 
00185   const Eigen::Vector3d getCenteredBoundingBoxOffset() const;
00186 
00188   const LinkTransformMap& getAssociatedFixedTransforms() const
00189   {
00190     return associated_fixed_transforms_;
00191   }
00192 
00194   void addAssociatedFixedTransform(const LinkModel* link_model, const Eigen::Affine3d& transform)
00195   {
00196     associated_fixed_transforms_[link_model] = transform;
00197   }
00198 
00200   const std::string& getVisualMeshFilename() const
00201   {
00202     return visual_mesh_filename_;
00203   }
00204 
00206   const Eigen::Vector3d& getVisualMeshScale() const
00207   {
00208     return visual_mesh_scale_;
00209   }
00210 
00212   const Eigen::Affine3d& getVisualMeshOrigin() const
00213   {
00214     return visual_mesh_origin_;
00215   }
00216 
00217   void setVisualMesh(const std::string& visual_mesh, const Eigen::Affine3d& origin, const Eigen::Vector3d& scale);
00218 
00219 private:
00221   std::string name_;
00222 
00224   const JointModel* parent_joint_model_;
00225 
00227   const LinkModel* parent_link_model_;
00228 
00230   std::vector<const JointModel*> child_joint_models_;
00231 
00233   bool is_parent_joint_fixed_;
00234 
00236   bool joint_origin_transform_is_identity_;
00237 
00239   Eigen::Affine3d joint_origin_transform_;
00240 
00242   EigenSTL::vector_Affine3d collision_origin_transform_;
00243 
00246   std::vector<int> collision_origin_transform_is_identity_;
00247 
00249   LinkTransformMap associated_fixed_transforms_;
00250 
00252   std::vector<shapes::ShapeConstPtr> shapes_;
00253 
00255   Eigen::Vector3d shape_extents_;
00256 
00258   std::string visual_mesh_filename_;
00259 
00261   Eigen::Affine3d visual_mesh_origin_;
00262 
00264   Eigen::Vector3d visual_mesh_scale_;
00265 
00268   int first_collision_body_transform_index_;
00269 
00271   int link_index_;
00272 };
00273 }
00274 }
00275 
00276 #endif


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