kinematic_options_map.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2014, SRI International
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 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: Acorn Pooley */
00036 
00037 #ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
00038 #define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
00039 
00040 #include <moveit/robot_interaction/kinematic_options.h>
00041 #include <boost/thread.hpp>
00042 #include <boost/function.hpp>
00043 
00044 namespace robot_interaction
00045 {
00046 // Maintains a set of KinematicOptions with a key/value mapping and a default
00047 // value.
00048 class KinematicOptionsMap
00049 {
00050 public:
00052   KinematicOptionsMap();
00053 
00055   static const std::string DEFAULT;
00056 
00058   static const std::string ALL;
00059 
00067   bool setStateFromIK(robot_state::RobotState& state, const std::string& key, const std::string& group,
00068                       const std::string& tip, const geometry_msgs::Pose& pose) const;
00069 
00072   KinematicOptions getOptions(const std::string& key) const;
00073 
00083   void setOptions(const std::string& key, const KinematicOptions& options,
00084                   KinematicOptions::OptionBitmask fields = KinematicOptions::ALL);
00085 
00089   void merge(const KinematicOptionsMap& other);
00090 
00091 private:
00092   // this protects all members.
00093   mutable boost::mutex lock_;
00094 
00095   // default kinematic options.
00096   // PROTECTED BY lock_
00097   KinematicOptions defaults_;
00098 
00099   typedef std::map<std::string, KinematicOptions> M_options;
00100 
00101   // per key kinematic options.
00102   // If key is not here, defaults are used.
00103   // PROTECTED BY lock_
00104   M_options options_;
00105 };
00106 }
00107 
00108 #endif


robot_interaction
Author(s): Ioan Sucan
autogenerated on Wed Jan 17 2018 03:32:39