tesseract_environment::AddLinkCommand Class Reference

#include <add_link_command.h>

Inheritance diagram for tesseract_environment::AddLinkCommand:

Public Types
using	ConstPtr = std::shared_ptr< const AddLinkCommand >
using	Ptr = std::shared_ptr< AddLinkCommand >
Public Types inherited from tesseract_environment::Command
using	ConstPtr = std::shared_ptr< const Command >
using	Ptr = std::shared_ptr< Command >

Public Member Functions
	AddLinkCommand ()
	AddLinkCommand (const tesseract_scene_graph::Link &link, bool replace_allowed=false)
	Adds or replace a link to the environment. More...
	AddLinkCommand (const tesseract_scene_graph::Link &link, const tesseract_scene_graph::Joint &joint, bool replace_allowed=false)
	Adds a link and joint in the environment. More...
const std::shared_ptr< const tesseract_scene_graph::Joint > &	getJoint () const
const std::shared_ptr< const tesseract_scene_graph::Link > &	getLink () const
bool	operator!= (const AddLinkCommand &rhs) const
bool	operator== (const AddLinkCommand &rhs) const
bool	replaceAllowed () const
Public Member Functions inherited from tesseract_environment::Command
	Command (Command &&)=default
	Command (CommandType type=CommandType::UNINITIALIZED)
	Command (const Command &)=default
CommandType	getType () const
bool	operator!= (const Command &rhs) const
Command &	operator= (Command &&)=default
Command &	operator= (const Command &)=default
bool	operator== (const Command &rhs) const
virtual	~Command ()=default

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Private Attributes
std::shared_ptr< const tesseract_scene_graph::Joint >	joint_
std::shared_ptr< const tesseract_scene_graph::Link >	link_
bool	replace_allowed_ { false }

Friends
class	boost::serialization::access
struct	tesseract_common::Serialization

Detailed Description

Definition at line 45 of file add_link_command.h.

Member Typedef Documentation

ConstPtr

using tesseract_environment::AddLinkCommand::ConstPtr = std::shared_ptr<const AddLinkCommand>

Definition at line 49 of file add_link_command.h.

Ptr

using tesseract_environment::AddLinkCommand::Ptr = std::shared_ptr<AddLinkCommand>

Definition at line 48 of file add_link_command.h.

Constructor & Destructor Documentation

AddLinkCommand() [1/3]

tesseract_environment::AddLinkCommand::AddLinkCommand

(

)

Definition at line 41 of file add_link_command.cpp.

AddLinkCommand() [2/3]

tesseract_environment::AddLinkCommand::AddLinkCommand	(	const tesseract_scene_graph::Link &	link,
		bool	replace_allowed = false
	)

Adds or replace a link to the environment.

If the link exists and replace_allowed equals true:

   This command should replace the current link with the new link

If the link exists and replace_allowed equals false:

   This command should result in an error

If the link does not exist:

   This command should attach the link to the root link with a fixed joint
   with a joint name of joint_{link name}".

Parameters

link	The link to be added to the graph
replace_allowed	If true then if the link exists it will be replaced, otherwise if false it will fail.

Definition at line 43 of file add_link_command.cpp.

AddLinkCommand() [3/3]

tesseract_environment::AddLinkCommand::AddLinkCommand	(	const tesseract_scene_graph::Link &	link,
		const tesseract_scene_graph::Joint &	joint,
		bool	replace_allowed = false
	)

Adds a link and joint in the environment.

If the link and joint exist and replace is allowed

   This command will replace both link and joint if the link is the child link, otherwise this results in error

If the link and joint exist and replace is not allowed

   This command should result in an error

If the link or joint only exists:

   This command should result in an error

Parameters

link	The link to be added to the graph
joint	The joint to be used to attach link to environment
replace_allowed	If true then if the link and joint exists it will be replaced, otherwise if false it will fail.

Todo:

if joint is not fixed we should verify that limits are provided

Definition at line 51 of file add_link_command.cpp.

Member Function Documentation

getJoint()

const std::shared_ptr< const tesseract_scene_graph::Joint > & tesseract_environment::AddLinkCommand::getJoint

(

)

const

Definition at line 67 of file add_link_command.cpp.

getLink()

const std::shared_ptr< const tesseract_scene_graph::Link > & tesseract_environment::AddLinkCommand::getLink

(

)

const

Definition at line 66 of file add_link_command.cpp.

operator!=()

bool tesseract_environment::AddLinkCommand::operator!=

(

const AddLinkCommand &

rhs

)

const

Definition at line 79 of file add_link_command.cpp.

operator==()

bool tesseract_environment::AddLinkCommand::operator==

(

const AddLinkCommand &

rhs

)

const

Definition at line 70 of file add_link_command.cpp.

replaceAllowed()

bool tesseract_environment::AddLinkCommand::replaceAllowed

(

)

const

Definition at line 68 of file add_link_command.cpp.

serialize()

template<class Archive >

void tesseract_environment::AddLinkCommand::serialize ( Archive &  ar, const unsigned int  version  )

private

Definition at line 82 of file add_link_command.cpp.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 109 of file add_link_command.h.

tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 110 of file add_link_command.h.

Member Data Documentation

joint_

std::shared_ptr<const tesseract_scene_graph::Joint> tesseract_environment::AddLinkCommand::joint_

private

Definition at line 106 of file add_link_command.h.

link_

std::shared_ptr<const tesseract_scene_graph::Link> tesseract_environment::AddLinkCommand::link_

private

Definition at line 105 of file add_link_command.h.

replace_allowed_

bool tesseract_environment::AddLinkCommand::replace_allowed_ { false }

private

Definition at line 107 of file add_link_command.h.

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The documentation for this class was generated from the following files:

• add_link_command.h
• add_link_command.cpp