kinematic_options_map.h
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34 
35 /* Author: Acorn Pooley */
36 
37 #ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
38 #define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
39 
41 #include <boost/thread.hpp>
42 #include <boost/function.hpp>
43 
44 namespace robot_interaction
45 {
46 // Maintains a set of KinematicOptions with a key/value mapping and a default
47 // value.
49 {
50 public:
53 
55  static const std::string DEFAULT;
56 
58  static const std::string ALL;
59 
67  bool setStateFromIK(robot_state::RobotState& state, const std::string& key, const std::string& group,
68  const std::string& tip, const geometry_msgs::Pose& pose) const;
69 
72  KinematicOptions getOptions(const std::string& key) const;
73 
83  void setOptions(const std::string& key, const KinematicOptions& options,
85 
89  void merge(const KinematicOptionsMap& other);
90 
91 private:
92  // this protects all members.
93  mutable boost::mutex lock_;
94 
95  // default kinematic options.
96  // PROTECTED BY lock_
98 
99  typedef std::map<std::string, KinematicOptions> M_options;
100 
101  // per key kinematic options.
102  // If key is not here, defaults are used.
103  // PROTECTED BY lock_
104  M_options options_;
105 };
106 }
107 
108 #endif
bool setStateFromIK(robot_state::RobotState &state, const std::string &key, const std::string &group, const std::string &tip, const geometry_msgs::Pose &pose) const
KinematicOptionsMap()
Constructor - set all options to reasonable default values.
static const std::string DEFAULT
When used as key this means the default value.
KinematicOptions getOptions(const std::string &key) const
void merge(const KinematicOptionsMap &other)
void setOptions(const std::string &key, const KinematicOptions &options, KinematicOptions::OptionBitmask fields=KinematicOptions::ALL)
std::map< std::string, KinematicOptions > M_options
static const std::string ALL
When used as key this means set ALL keys (including default)


robot_interaction
Author(s): Ioan Sucan
autogenerated on Mon Jan 15 2018 03:52:07