change_link_origin_command.h

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#ifndef TESSERACT_ENVIRONMENT_CHANGE_LINK_ORIGIN_COMMAND_H
#define TESSERACT_ENVIRONMENT_CHANGE_LINK_ORIGIN_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <Eigen/Geometry>
#include <boost/serialization/export.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_environment
{
class ChangeLinkOriginCommand : public Command
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<ChangeLinkOriginCommand>;
  using ConstPtr = std::shared_ptr<const ChangeLinkOriginCommand>;
 
  ChangeLinkOriginCommand();
 
  ChangeLinkOriginCommand(std::string link_name, const Eigen::Isometry3d& origin);
 
  const std::string& getLinkName() const;
  const Eigen::Isometry3d& getOrigin() const;
 
  bool operator==(const ChangeLinkOriginCommand& rhs) const;
  bool operator!=(const ChangeLinkOriginCommand& rhs) const;
 
private:
  std::string link_name_;
  Eigen::Isometry3d origin_{ Eigen::Isometry3d::Identity() };
 
  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::ChangeLinkOriginCommand)
#endif  // TESSERACT_ENVIRONMENT_CHANGE_LINK_ORIGIN_COMMAND_H