kinematic_options_map.h
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00034 
00035 /* Author: Acorn Pooley */
00036 
00037 #ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
00038 #define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_MAP_
00039 
00040 #include <moveit/robot_interaction/kinematic_options.h>
00041 #include <boost/thread.hpp>
00042 #include <boost/function.hpp>
00043 
00044 namespace robot_interaction
00045 {
00046 // Maintains a set of KinematicOptions with a key/value mapping and a default
00047 // value.
00048 class KinematicOptionsMap
00049 {
00050 public:
00052   KinematicOptionsMap();
00053 
00055   static const std::string DEFAULT;
00056 
00058   static const std::string ALL;
00059 
00067   bool setStateFromIK(robot_state::RobotState& state, const std::string& key, const std::string& group,
00068                       const std::string& tip, const geometry_msgs::Pose& pose) const;
00069 
00072   KinematicOptions getOptions(const std::string& key) const;
00073 
00083   void setOptions(const std::string& key, const KinematicOptions& options,
00084                   KinematicOptions::OptionBitmask fields = KinematicOptions::ALL);
00085 
00089   void merge(const KinematicOptionsMap& other);
00090 
00091 private:
00092   // this protects all members.
00093   mutable boost::mutex lock_;
00094 
00095   // default kinematic options.
00096   // PROTECTED BY lock_
00097   KinematicOptions defaults_;
00098 
00099   typedef std::map<std::string, KinematicOptions> M_options;
00100 
00101   // per key kinematic options.
00102   // If key is not here, defaults are used.
00103   // PROTECTED BY lock_
00104   M_options options_;
00105 };
00106 }
00107 
00108 #endif


robot_interaction
Author(s): Ioan Sucan
autogenerated on Mon Jul 24 2017 02:21:55