add_scene_graph_command.h

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#ifndef TESSERACT_ENVIRONMENT_ADD_SCENE_GRAPH_COMMAND_H
#define TESSERACT_ENVIRONMENT_ADD_SCENE_GRAPH_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <string>
#include <boost/serialization/export.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
#include <tesseract_scene_graph/fwd.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_environment
{
class AddSceneGraphCommand : public Command
{
public:
  using Ptr = std::shared_ptr<AddSceneGraphCommand>;
  using ConstPtr = std::shared_ptr<const AddSceneGraphCommand>;
 
  AddSceneGraphCommand();
  AddSceneGraphCommand(const tesseract_scene_graph::SceneGraph& scene_graph, std::string prefix = "");
 
  AddSceneGraphCommand(const tesseract_scene_graph::SceneGraph& scene_graph,
                       const tesseract_scene_graph::Joint& joint,
                       std::string prefix = "");
 
  const std::shared_ptr<const tesseract_scene_graph::SceneGraph>& getSceneGraph() const;
  const std::shared_ptr<const tesseract_scene_graph::Joint>& getJoint() const;
  const std::string& getPrefix() const;
 
  bool operator==(const AddSceneGraphCommand& rhs) const;
  bool operator!=(const AddSceneGraphCommand& rhs) const;
 
private:
  std::shared_ptr<const tesseract_scene_graph::SceneGraph> scene_graph_;
  std::shared_ptr<const tesseract_scene_graph::Joint> joint_;
  std::string prefix_;
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
}  // namespace tesseract_environment
 
BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddSceneGraphCommand)
 
#endif  // TESSERACT_ENVIRONMENT_ADD_SCENE_GRAPH_COMMAND_H