contact_managers_plugin_factory.h

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#ifndef TESSERACT_COLLISION_CONTACT_MANAGERS_PLUGIN_FACTORY_H
#define TESSERACT_COLLISION_CONTACT_MANAGERS_PLUGIN_FACTORY_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <string>
#include <memory>
#include <map>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
#include <tesseract_common/plugin_info.h>
#include <boost_plugin_loader/plugin_loader.h>
#include <boost_plugin_loader/macros.h>
#include <filesystem>
 
// clang-format off
#define TESSERACT_ADD_DISCRETE_MANAGER_PLUGIN(DERIVED_CLASS, ALIAS)                                                    \
  EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, DiscColl)
 
#define TESSERACT_ADD_CONTINUOUS_MANAGER_PLUGIN(DERIVED_CLASS, ALIAS)                                                  \
  EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, ContColl)
// clang-format on
 
namespace tesseract_collision
{
class ContactManagersPluginFactory;
class DiscreteContactManager;
class ContinuousContactManager;
 
class DiscreteContactManagerFactory
{
public:
  using Ptr = std::shared_ptr<DiscreteContactManagerFactory>;
  using ConstPtr = std::shared_ptr<const DiscreteContactManagerFactory>;
 
  virtual ~DiscreteContactManagerFactory() = default;
 
  virtual std::unique_ptr<DiscreteContactManager> create(const std::string& name, const YAML::Node& config) const = 0;
 
protected:
  static std::string getSection();
  friend class boost_plugin_loader::PluginLoader;
};
 
class ContinuousContactManagerFactory
{
public:
  using Ptr = std::shared_ptr<ContinuousContactManagerFactory>;
  using ConstPtr = std::shared_ptr<const ContinuousContactManagerFactory>;
 
  virtual ~ContinuousContactManagerFactory() = default;
 
  virtual std::unique_ptr<ContinuousContactManager> create(const std::string& solver_name,
                                                           const YAML::Node& config) const = 0;
 
protected:
  static std::string getSection();
  friend class boost_plugin_loader::PluginLoader;
};
 
class ContactManagersPluginFactory
{
public:
  ContactManagersPluginFactory();
  ~ContactManagersPluginFactory();
  ContactManagersPluginFactory(const ContactManagersPluginFactory&) = default;
  ContactManagersPluginFactory& operator=(const ContactManagersPluginFactory&) = default;
  ContactManagersPluginFactory(ContactManagersPluginFactory&&) = default;
  ContactManagersPluginFactory& operator=(ContactManagersPluginFactory&&) = default;
 
  ContactManagersPluginFactory(YAML::Node config, const tesseract_common::ResourceLocator& locator);
 
  ContactManagersPluginFactory(const std::filesystem::path& config, const tesseract_common::ResourceLocator& locator);
 
  ContactManagersPluginFactory(const std::string& config, const tesseract_common::ResourceLocator& locator);
 
  void addSearchPath(const std::string& path);
 
  std::set<std::string> getSearchPaths() const;
 
  void clearSearchPaths();
 
  void addSearchLibrary(const std::string& library_name);
 
  std::set<std::string> getSearchLibraries() const;
 
  void clearSearchLibraries();
 
  void addDiscreteContactManagerPlugin(const std::string& name, tesseract_common::PluginInfo plugin_info);
 
  bool hasDiscreteContactManagerPlugins() const;
 
  tesseract_common::PluginInfoMap getDiscreteContactManagerPlugins() const;
 
  void removeDiscreteContactManagerPlugin(const std::string& name);
 
  void setDefaultDiscreteContactManagerPlugin(const std::string& name);
 
  std::string getDefaultDiscreteContactManagerPlugin() const;
 
  void addContinuousContactManagerPlugin(const std::string& name, tesseract_common::PluginInfo plugin_info);
 
  bool hasContinuousContactManagerPlugins() const;
 
  tesseract_common::PluginInfoMap getContinuousContactManagerPlugins() const;
 
  void removeContinuousContactManagerPlugin(const std::string& name);
 
  void setDefaultContinuousContactManagerPlugin(const std::string& name);
 
  std::string getDefaultContinuousContactManagerPlugin() const;
 
  std::unique_ptr<DiscreteContactManager> createDiscreteContactManager(const std::string& name) const;
 
  std::unique_ptr<DiscreteContactManager>
  createDiscreteContactManager(const std::string& name, const tesseract_common::PluginInfo& plugin_info) const;
 
  std::unique_ptr<ContinuousContactManager> createContinuousContactManager(const std::string& name) const;
 
  std::unique_ptr<ContinuousContactManager>
  createContinuousContactManager(const std::string& name, const tesseract_common::PluginInfo& plugin_info) const;
 
  void saveConfig(const std::filesystem::path& file_path) const;
 
  YAML::Node getConfig() const;
 
private:
  mutable std::map<std::string, DiscreteContactManagerFactory::Ptr> discrete_factories_;
  mutable std::map<std::string, ContinuousContactManagerFactory::Ptr> continuous_factories_;
  tesseract_common::PluginInfoContainer discrete_plugin_info_;
  tesseract_common::PluginInfoContainer continuous_plugin_info_;
  boost_plugin_loader::PluginLoader plugin_loader_;
 
  void loadConfig(const YAML::Node& config);
};
}  // namespace tesseract_collision
#endif  // TESSERACT_COLLISION_CONTACT_MANAGERS_PLUGIN_FACTORY_H