change_collision_margins_command.h

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#ifndef TESSERACT_ENVIRONMENT_CHANGE_COLLISION_MARGINS_COMMAND_H
#define TESSERACT_ENVIRONMENT_CHANGE_COLLISION_MARGINS_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <optional>
#include <boost/serialization/export.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
#include <tesseract_common/collision_margin_data.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_environment
{
using CollisionMarginPairData = tesseract_common::CollisionMarginPairData;
using CollisionMarginPairOverrideType = tesseract_common::CollisionMarginPairOverrideType;
 
class ChangeCollisionMarginsCommand : public Command
{
public:
  using Ptr = std::shared_ptr<ChangeCollisionMarginsCommand>;
  using ConstPtr = std::shared_ptr<const ChangeCollisionMarginsCommand>;
 
  ChangeCollisionMarginsCommand();
 
  ChangeCollisionMarginsCommand(double default_margin);
 
  ChangeCollisionMarginsCommand(
      CollisionMarginPairData pair_margins,
      CollisionMarginPairOverrideType pair_override_type = CollisionMarginPairOverrideType::MODIFY);
 
  ChangeCollisionMarginsCommand(
      double default_margin,
      CollisionMarginPairData pair_margins,
      CollisionMarginPairOverrideType pair_override_type = CollisionMarginPairOverrideType::MODIFY);
 
  std::optional<double> getDefaultCollisionMargin() const;
  CollisionMarginPairData getCollisionMarginPairData() const;
  CollisionMarginPairOverrideType getCollisionMarginPairOverrideType() const;
 
  bool operator==(const ChangeCollisionMarginsCommand& rhs) const;
  bool operator!=(const ChangeCollisionMarginsCommand& rhs) const;
 
private:
  std::optional<double> default_margin_;
  CollisionMarginPairData pair_margins_;
  CollisionMarginPairOverrideType pair_override_type_{ CollisionMarginPairOverrideType::NONE };
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
 
  template <class Archive>
  void load(Archive& ar, const unsigned int version);  // NOLINT
 
  template <class Archive>
  void save(Archive& ar, const unsigned int version) const;  // NOLINT
 
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
}  // namespace tesseract_environment
 
BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeCollisionMarginsCommand)
#endif  // TESSERACT_ENVIRONMENT_CHANGE_COLLISION_MARGINS_COMMAND_H