manipulator_info.h

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#ifndef TESSERACT_COMMON_MANIPULATOR_INFO_H
#define TESSERACT_COMMON_MANIPULATOR_INFO_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <variant>
#include <Eigen/Geometry>
#include <boost/serialization/base_object.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/any_poly.h>
 
namespace tesseract_common
{
struct Serialization;
struct ManipulatorInfo
{
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  ManipulatorInfo() = default;
  ManipulatorInfo(std::string manipulator_,
                  std::string working_frame_,
                  std::string tcp_frame_,
                  std::variant<std::string, Eigen::Isometry3d> tcp_offset_ = Eigen::Isometry3d::Identity());
 
  std::string manipulator;
 
  std::string working_frame;
 
  std::string tcp_frame;
 
  std::variant<std::string, Eigen::Isometry3d> tcp_offset{ Eigen::Isometry3d::Identity() };
 
  std::string manipulator_ik_solver;
 
  ManipulatorInfo getCombined(const ManipulatorInfo& manip_info_override) const;
 
  bool empty() const;
 
  bool operator==(const ManipulatorInfo& rhs) const;
  bool operator!=(const ManipulatorInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
 
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
using ManipulatorInfoAnyPoly = AnyWrapper<ManipulatorInfo>;
}  // namespace tesseract_common
 
BOOST_CLASS_EXPORT_KEY(tesseract_common::ManipulatorInfo)
BOOST_CLASS_EXPORT_KEY(tesseract_common::ManipulatorInfoAnyPoly)
 
#endif  // TESSERACT_COMMON_MANIPULATOR_INFO_H