add_trajectory_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 <string>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/utils.h>
#include <tesseract_environment/commands/add_trajectory_link_command.h>
 
namespace tesseract_environment
{
AddTrajectoryLinkCommand::AddTrajectoryLinkCommand() : Command(CommandType::ADD_TRAJECTORY_LINK) {}
 
AddTrajectoryLinkCommand::AddTrajectoryLinkCommand(std::string link_name,
                                                   std::string parent_link_name,
                                                   tesseract_common::JointTrajectory trajectory,
                                                   bool replace_allowed)
  : Command(CommandType::ADD_TRAJECTORY_LINK)
  , link_name_(std::move(link_name))
  , parent_link_name_(std::move(parent_link_name))
  , trajectory_(std::move(trajectory))
  , replace_allowed_(replace_allowed)
{
}
 
const std::string& AddTrajectoryLinkCommand::getLinkName() const { return link_name_; }
const std::string& AddTrajectoryLinkCommand::getParentLinkName() const { return parent_link_name_; }
const tesseract_common::JointTrajectory& AddTrajectoryLinkCommand::getTrajectory() const { return trajectory_; }
bool AddTrajectoryLinkCommand::replaceAllowed() const { return replace_allowed_; }
 
bool AddTrajectoryLinkCommand::operator==(const AddTrajectoryLinkCommand& rhs) const
{
  bool equal = true;
  equal &= Command::operator==(rhs);
  equal &= (link_name_ == rhs.link_name_);
  equal &= (parent_link_name_ == rhs.parent_link_name_);
  equal &= (trajectory_ == rhs.trajectory_);
  equal &= (replace_allowed_ == rhs.replace_allowed_);
  return equal;
}
bool AddTrajectoryLinkCommand::operator!=(const AddTrajectoryLinkCommand& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void AddTrajectoryLinkCommand::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Command);
  ar& BOOST_SERIALIZATION_NVP(link_name_);
  ar& BOOST_SERIALIZATION_NVP(parent_link_name_);
  ar& BOOST_SERIALIZATION_NVP(trajectory_);
  ar& BOOST_SERIALIZATION_NVP(replace_allowed_);
}
}  // namespace tesseract_environment
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddTrajectoryLinkCommand)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::AddTrajectoryLinkCommand)