change_joint_origin_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/eigen_serialization.h>
#include <tesseract_common/utils.h>
#include <tesseract_environment/commands/change_joint_origin_command.h>
 
namespace tesseract_environment
{
ChangeJointOriginCommand::ChangeJointOriginCommand() : Command(CommandType::CHANGE_JOINT_ORIGIN){};
 
// NOLINTNEXTLINE(modernize-pass-by-value)
ChangeJointOriginCommand::ChangeJointOriginCommand(std::string joint_name, const Eigen::Isometry3d& origin)
  : Command(CommandType::CHANGE_JOINT_ORIGIN), joint_name_(std::move(joint_name)), origin_(origin)
{
}
 
const std::string& ChangeJointOriginCommand::getJointName() const { return joint_name_; }
const Eigen::Isometry3d& ChangeJointOriginCommand::getOrigin() const { return origin_; }
 
bool ChangeJointOriginCommand::operator==(const ChangeJointOriginCommand& rhs) const
{
  bool equal = true;
  equal &= Command::operator==(rhs);
  equal &= origin_.isApprox(rhs.origin_, 1e-5);
  equal &= joint_name_ == rhs.joint_name_;
  return equal;
}
bool ChangeJointOriginCommand::operator!=(const ChangeJointOriginCommand& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void ChangeJointOriginCommand::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Command);
  ar& BOOST_SERIALIZATION_NVP(origin_);
  ar& BOOST_SERIALIZATION_NVP(joint_name_);
}
}  // namespace tesseract_environment
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::ChangeJointOriginCommand)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::ChangeJointOriginCommand)