modify_allowed_collisions_command.h

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#ifndef TESSERACT_ENVIRONMENT_MODIFY_ALLOWED_COLLISIONS_MATRIX_COMMAND_H
#define TESSERACT_ENVIRONMENT_MODIFY_ALLOWED_COLLISIONS_MATRIX_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <boost/serialization/export.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
#include <tesseract_common/allowed_collision_matrix.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_environment
{
enum class ModifyAllowedCollisionsType
{
  ADD,
  REMOVE,
  REPLACE
};
 
class ModifyAllowedCollisionsCommand : public Command
{
public:
  using Ptr = std::shared_ptr<ModifyAllowedCollisionsCommand>;
  using ConstPtr = std::shared_ptr<const ModifyAllowedCollisionsCommand>;
 
  ModifyAllowedCollisionsCommand();
 
  ModifyAllowedCollisionsCommand(tesseract_common::AllowedCollisionMatrix acm, ModifyAllowedCollisionsType type);
 
  ModifyAllowedCollisionsType getModifyType() const;
  const tesseract_common::AllowedCollisionMatrix& getAllowedCollisionMatrix() const;
 
  bool operator==(const ModifyAllowedCollisionsCommand& rhs) const;
  bool operator!=(const ModifyAllowedCollisionsCommand& rhs) const;
 
private:
  ModifyAllowedCollisionsType type_{ ModifyAllowedCollisionsType::ADD };
  tesseract_common::AllowedCollisionMatrix acm_;
 
  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::ModifyAllowedCollisionsCommand)
 
#endif  // TESSERACT_ENVIRONMENT_MODIFY_ALLOWED_COLLISIONS_MATRIX_COMMAND_H