RecursionParams.h

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#ifndef URDF_TRAVERSER_RECURSIONPARAMS_H
#define URDF_TRAVERSER_RECURSIONPARAMS_H
// Copyright Jennifer Buehler

#include <baselib_binding/SharedPtr.h>
#include <urdf_traverser/Types.h>

namespace urdf_traverser
{

class RecursionParams
{
    friend class UrdfTraverser;
public:
    typedef baselib_binding::shared_ptr<RecursionParams>::type Ptr;

    explicit RecursionParams(): level(-1) {}
    explicit RecursionParams(const RecursionParams& o):
        link(o.link),
        level(o.level) {}
    virtual ~RecursionParams() {}

    RecursionParams& operator=(const RecursionParams& o)
    {
        link = o.link;
        level = o.level;
        return *this;
    }

    LinkPtr getLink() const
    {
        return link;
    }

    unsigned int getLevel() const
    {
        return level;
    }

protected:
    explicit RecursionParams(LinkPtr& _link, unsigned int _level):
        link(_link),
        level(_level) {}


    // Sets the current variables for the recursion state.
    void setParams(const LinkPtr& _link, int _level)
    {
        link = _link;
        level = _level;
    }

    // the link the recursion is applied on
    LinkPtr link;

    // level in the tree (distance to link on which traversal was started)
    unsigned int level;
};

typedef RecursionParams::Ptr RecursionParamsPtr;

class ModelRecursionParams: public RecursionParams
{
public:
    typedef baselib_binding::shared_ptr<ModelRecursionParams>::type Ptr;
    explicit ModelRecursionParams(): RecursionParams() {}
    explicit ModelRecursionParams(const ModelPtr& _model):
        RecursionParams(),
        model(_model) {}
    ModelRecursionParams(const ModelRecursionParams& o):
        RecursionParams(o),
        model(o.model) {}
    virtual ~ModelRecursionParams() {}

    ModelPtr model;
};
typedef ModelRecursionParams::Ptr ModelRecursionParamsPtr;

class LinkRecursionParams: public ModelRecursionParams
{
public:
    typedef baselib_binding::shared_ptr<LinkRecursionParams>::type Ptr;
    explicit LinkRecursionParams(): ModelRecursionParams() {}
    explicit LinkRecursionParams(const ModelPtr& model): ModelRecursionParams(model) {}
    LinkRecursionParams(const LinkRecursionParams& o):
        ModelRecursionParams(o),
        resultLink(o.resultLink) {}
    virtual ~LinkRecursionParams() {}

    LinkPtr resultLink;
};
typedef LinkRecursionParams::Ptr LinkRecursionParamsPtr;




class FactorRecursionParams: public RecursionParams
{
public:
    typedef baselib_binding::shared_ptr<FactorRecursionParams>::type Ptr;
    explicit FactorRecursionParams(): RecursionParams(), factor(1.0) {}
    explicit FactorRecursionParams(double _factor):
        RecursionParams(),
        factor(_factor) {}
    FactorRecursionParams(const FactorRecursionParams& o):
        RecursionParams(o),
        factor(o.factor) {}
    virtual ~FactorRecursionParams() {}

    double factor;
};
typedef FactorRecursionParams::Ptr FactorRecursionParamsPtr;

class FlagRecursionParams: public RecursionParams
{
public:
    typedef baselib_binding::shared_ptr<FlagRecursionParams>::type Ptr;
    explicit FlagRecursionParams(): RecursionParams(), flag(false) {}
    explicit FlagRecursionParams(bool _flag):
        RecursionParams(),
        flag(_flag) {}
    FlagRecursionParams(const FlagRecursionParams& o):
        RecursionParams(o),
        flag(o.flag) {}
    virtual ~FlagRecursionParams() {}

    bool flag;
};
typedef FlagRecursionParams::Ptr FlagRecursionParamsPtr;



class StringVectorRecursionParams: public RecursionParams
{
public:
    typedef baselib_binding::shared_ptr<StringVectorRecursionParams>::type Ptr;
    explicit StringVectorRecursionParams(const bool _skipFixed):
        RecursionParams(),
        skipFixed(_skipFixed) {}
    StringVectorRecursionParams(const StringVectorRecursionParams& o):
        RecursionParams(o),
        names(o.names),
        skipFixed(o.skipFixed) {}
    virtual ~StringVectorRecursionParams() {}
    // skip the fixed joints and collect only movable ones
    bool skipFixed;
    std::vector<std::string> names;
private:
    explicit StringVectorRecursionParams() {}
};
typedef StringVectorRecursionParams::Ptr StringVectorRecursionParamsPtr;



}  // namespace
#endif  //  URDF_TRAVERSER_RECURSIONPARAMS_H