RobotModel.cpp

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#include "robot_model_services/robot_model/RobotModel.hpp"

namespace robot_model_services {
        RobotModel::RobotModel()  {}
        RobotModel::~RobotModel() {}

        RobotStatePtr RobotModel::calculateRobotState(const SimpleVector3 &position, const SimpleQuaternion &orientation) {
                return this->calculateRobotState(mCurrentRobotState, position, orientation);
        }

    float RobotModel::getBase_TranslationalMovementCosts(const RobotStatePtr &targetRobotState) {
        return this->getBase_TranslationalMovementCosts(mCurrentRobotState, targetRobotState);
        }

    float RobotModel::getPTU_PanMovementCosts(const RobotStatePtr &targetRobotState) {
        return this->getPTU_PanMovementCosts(mCurrentRobotState, targetRobotState);
    }

    float RobotModel::getPTU_TiltMovementCosts(const RobotStatePtr &targetRobotState) {
        return this->getPTU_TiltMovementCosts(mCurrentRobotState, targetRobotState);
    }

    float RobotModel::getBase_RotationalMovementCosts(const RobotStatePtr &targetRobotState) {
        return this->getBase_RotationalMovementCosts(mCurrentRobotState, targetRobotState);
    }

        void RobotModel::setCurrentRobotState(const RobotStatePtr &currentRobotState) {
                mCurrentRobotState = currentRobotState;
        }

        RobotStatePtr RobotModel::getCurrentRobotState() {
                return mCurrentRobotState;
        }
}