command.h

Go to the documentation of this file.

 
#ifndef TESSERACT_ENVIRONMENT_COMMAND_H
#define TESSERACT_ENVIRONMENT_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <vector>
#include <boost/serialization/export.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_environment
{
enum class CommandType
{
  UNINITIALIZED = -1,
  ADD_LINK = 0,
  MOVE_LINK = 1,
  MOVE_JOINT = 2,
  REMOVE_LINK = 3,
  REMOVE_JOINT = 4,
  CHANGE_LINK_ORIGIN = 5,
  CHANGE_JOINT_ORIGIN = 6,
  CHANGE_LINK_COLLISION_ENABLED = 7,
  CHANGE_LINK_VISIBILITY = 8,
  MODIFY_ALLOWED_COLLISIONS = 9,
  REMOVE_ALLOWED_COLLISION_LINK = 10,
  ADD_SCENE_GRAPH = 11,
  CHANGE_JOINT_POSITION_LIMITS = 12,
  CHANGE_JOINT_VELOCITY_LIMITS = 13,
  CHANGE_JOINT_ACCELERATION_LIMITS = 14,
  ADD_KINEMATICS_INFORMATION = 15,
  REPLACE_JOINT = 16,
  CHANGE_COLLISION_MARGINS = 17,
  ADD_CONTACT_MANAGERS_PLUGIN_INFO = 18,
  SET_ACTIVE_DISCRETE_CONTACT_MANAGER = 19,
  SET_ACTIVE_CONTINUOUS_CONTACT_MANAGER = 20,
  ADD_TRAJECTORY_LINK = 21
};
 
template <class Archive>
void save(Archive& ar, const CommandType& g, const unsigned int version);  // NOLINT
 
template <class Archive>
void load(Archive& ar, CommandType& g, const unsigned int version);  // NOLINT
 
template <class Archive>
void serialize(Archive& ar, CommandType& g, const unsigned int version);  // NOLINT
 
class Command
{
public:
  using Ptr = std::shared_ptr<Command>;
  using ConstPtr = std::shared_ptr<const Command>;
 
  Command(CommandType type = CommandType::UNINITIALIZED);
  virtual ~Command() = default;
  Command(const Command&) = default;
  Command& operator=(const Command&) = default;
  Command(Command&&) = default;
  Command& operator=(Command&&) = default;
 
  CommandType getType() const { return type_; }
 
  bool operator==(const Command& rhs) const;
  bool operator!=(const Command& rhs) const;
 
private:
  CommandType type_;
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
using Commands = std::vector<std::shared_ptr<const Command>>;
}  // namespace tesseract_environment
 
BOOST_CLASS_EXPORT_KEY(tesseract_environment::Command)
 
#endif  // COMMAND_H