add_link_command.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/commands/add_link_command.h>
#include <tesseract_common/utils.h>
#include <tesseract_scene_graph/link.h>
#include <tesseract_scene_graph/joint.h>
 
namespace tesseract_environment
{
AddLinkCommand::AddLinkCommand() : Command(CommandType::ADD_LINK) {}
 
AddLinkCommand::AddLinkCommand(const tesseract_scene_graph::Link& link, bool replace_allowed)
  : Command(CommandType::ADD_LINK)
  , link_(std::make_shared<tesseract_scene_graph::Link>(link.clone()))
  , joint_(nullptr)
  , replace_allowed_(replace_allowed)
{
}
 
AddLinkCommand::AddLinkCommand(const tesseract_scene_graph::Link& link,
                               const tesseract_scene_graph::Joint& joint,
                               bool replace_allowed)
  : Command(CommandType::ADD_LINK)
  , link_(std::make_shared<tesseract_scene_graph::Link>(link.clone()))
  , joint_(std::make_shared<tesseract_scene_graph::Joint>(joint.clone()))
  , replace_allowed_(replace_allowed)
{
  if (joint_->child_link_name != link.getName())
    throw std::runtime_error("AddLinkCommand: The provided joint child link name must equal the name of the provided "
                             "link.");
 
}
 
const std::shared_ptr<const tesseract_scene_graph::Link>& AddLinkCommand::getLink() const { return link_; }
const std::shared_ptr<const tesseract_scene_graph::Joint>& AddLinkCommand::getJoint() const { return joint_; }
bool AddLinkCommand::replaceAllowed() const { return replace_allowed_; }
 
bool AddLinkCommand::operator==(const AddLinkCommand& rhs) const
{
  bool equal = true;
  equal &= Command::operator==(rhs);
  equal &= tesseract_common::pointersEqual(link_, rhs.link_);
  equal &= tesseract_common::pointersEqual(joint_, rhs.joint_);
  equal &= replace_allowed_ == rhs.replace_allowed_;
  return equal;
}
bool AddLinkCommand::operator!=(const AddLinkCommand& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void AddLinkCommand::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Command);
  ar& BOOST_SERIALIZATION_NVP(link_);
  ar& BOOST_SERIALIZATION_NVP(joint_);
  ar& BOOST_SERIALIZATION_NVP(replace_allowed_);
}
}  // namespace tesseract_environment
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddLinkCommand)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::AddLinkCommand)