Urdf2GraspItBase.h

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#ifndef URDF2GRASPIT_URDF2GRASPITBASE_H
#define URDF2GRASPIT_URDF2GRASPITBASE_H
// Copyright Jennifer Buehler

//-----------------------------------------------------
#include <urdf/model.h>

#include <iostream>
#include <string>
#include <map>
#include <vector>

#include <Eigen/Core>
#include <Eigen/Geometry>

#include <urdf2inventor/Urdf2Inventor.h>
#include <urdf2graspit/DHParam.h>
#include <urdf2graspit/OutputStructure.h>

// epsilon value to use when comparing whether two axes are the same
// (difference of angle between axes)
#define U2G_EPSILON 1e-07

namespace urdf2graspit
{

class Urdf2GraspItBase: public urdf2inventor::Urdf2Inventor
{
public:
    typedef urdf2inventor::Urdf2Inventor::UrdfTraverserPtr UrdfTraverserPtr;

    explicit Urdf2GraspItBase(UrdfTraverserPtr& traverser,
            float _scaleFactor = 1000):
        urdf2inventor::Urdf2Inventor(traverser, _scaleFactor),
        outStructure("iv")
    {
    }

    ~Urdf2GraspItBase()
    {
    }

    bool prepareModelForDenavitHartenberg(const std::string& fromLink);

    void initOutStructure(const std::string& robotName)
    {
        outStructure.setRobotName(robotName);
    }

    OutputStructure getOutStructure() const
    {
        return outStructure;
    }

protected:
    bool isDHReady(const std::string& fromLink) const;

    // starts URDF viewer to visualize modified URDF, can be used for testing
    void testVisualizeURDF(const std::string& fromLink);

private:

    OutputStructure outStructure;

    std::string dhReadyFrom;
};

}  //  namespace urdf2graspit
#endif   // URDF2GRASPIT_URDF2GRASPITBASE_H