model.h

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/* Author Ioan Sucan */

#ifndef SRDF_MODEL_
#define SRDF_MODEL_

#include <map>
#include <string>
#include <vector>
#include <utility>
#include <urdf/model.h>  // TODO: replace with urdf_model/types.h in Lunar
#include <memory>
#include <tinyxml.h>

namespace srdf
{
class Model
{
public:
  Model()
  {
  }

  ~Model()
  {
  }

  bool initXml(const urdf::ModelInterface& urdf_model, TiXmlElement* xml);
  bool initXml(const urdf::ModelInterface& urdf_model, TiXmlDocument* xml);
  bool initFile(const urdf::ModelInterface& urdf_model, const std::string& filename);
  bool initString(const urdf::ModelInterface& urdf_model, const std::string& xmlstring);

  struct Group
  {
    std::string name_;

    std::vector<std::string> joints_;

    std::vector<std::string> links_;

    std::vector<std::pair<std::string, std::string> > chains_;

    std::vector<std::string> subgroups_;
  };

  struct VirtualJoint
  {
    std::string name_;

    std::string type_;

    std::string parent_frame_;

    std::string child_link_;
  };

  struct EndEffector
  {
    std::string name_;

    std::string parent_link_;

    std::string parent_group_;

    std::string component_group_;
  };

  struct GroupState
  {
    std::string name_;

    std::string group_;

    std::map<std::string, std::vector<double> > joint_values_;
  };

  struct Sphere
  {
    double center_x_;
    double center_y_;
    double center_z_;

    double radius_;
  };

  struct LinkSpheres
  {
    std::string link_;

    std::vector<Sphere> spheres_;
  };

  struct DisabledCollision
  {
    std::string link1_;

    std::string link2_;

    std::string reason_;
  };

  // Some joints can be passive (not actuated). This structure specifies information about such joints
  struct PassiveJoint
  {
    std::string name_;
  };

  const std::string& getName() const
  {
    return name_;
  }

  const std::vector<DisabledCollision>& getDisabledCollisionPairs() const
  {
    return disabled_collisions_;
  }

  [[deprecated]] std::vector<std::pair<std::string, std::string> > getDisabledCollisions() const;

  const std::vector<Group>& getGroups() const
  {
    return groups_;
  }

  const std::vector<VirtualJoint>& getVirtualJoints() const
  {
    return virtual_joints_;
  }

  const std::vector<EndEffector>& getEndEffectors() const
  {
    return end_effectors_;
  }

  const std::vector<GroupState>& getGroupStates() const
  {
    return group_states_;
  }

  const std::vector<PassiveJoint>& getPassiveJoints() const
  {
    return passive_joints_;
  }

  const std::vector<LinkSpheres>& getLinkSphereApproximations() const
  {
    return link_sphere_approximations_;
  }

  void clear();

private:
  void loadVirtualJoints(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
  void loadGroups(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
  void loadGroupStates(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
  void loadEndEffectors(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
  void loadLinkSphereApproximations(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
  void loadDisabledCollisions(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
  void loadPassiveJoints(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);

  std::string name_;
  std::vector<Group> groups_;
  std::vector<GroupState> group_states_;
  std::vector<VirtualJoint> virtual_joints_;
  std::vector<EndEffector> end_effectors_;
  std::vector<LinkSpheres> link_sphere_approximations_;
  std::vector<DisabledCollision> disabled_collisions_;
  std::vector<PassiveJoint> passive_joints_;
};
typedef std::shared_ptr<Model> ModelSharedPtr;
typedef std::shared_ptr<const Model> ModelConstSharedPtr;
}  // namespace srdf
#endif