link.h

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/* Author: Wim Meeussen */
 
#ifndef TESSERACT_SCENE_GRAPH_LINK_H
#define TESSERACT_SCENE_GRAPH_LINK_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <string>
#include <vector>
#include <memory>
#include <Eigen/Geometry>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
#include <tesseract_geometry/fwd.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_scene_graph
{
class Material
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Material>;
  using ConstPtr = std::shared_ptr<const Material>;
 
  Material() = default;
  explicit Material(std::string name);
  ~Material() = default;
 
  Material(const Material&) = default;
  Material& operator=(const Material&) = default;
  Material(Material&&) = default;
  Material& operator=(Material&&) = default;
 
  const std::string& getName() const;
 
  static std::shared_ptr<Material> getDefaultMaterial();
 
  std::string texture_filename;
  Eigen::Vector4d color;
 
  void clear();
 
  bool operator==(const Material& rhs) const;
  bool operator!=(const Material& rhs) const;
 
private:
  std::string name_;
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
class Inertial
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Inertial>;
  using ConstPtr = std::shared_ptr<const Inertial>;
 
  Inertial() = default;
  ~Inertial() = default;
 
  Inertial(const Inertial&) = default;
  Inertial& operator=(const Inertial&) = default;
  Inertial(Inertial&&) = default;
  Inertial& operator=(Inertial&&) = default;
 
  Eigen::Isometry3d origin{ Eigen::Isometry3d::Identity() };
  double mass{ 0 };
  double ixx{ 0 };
  double ixy{ 0 };
  double ixz{ 0 };
  double iyy{ 0 };
  double iyz{ 0 };
  double izz{ 0 };
 
  void clear();
 
  bool operator==(const Inertial& rhs) const;
  bool operator!=(const Inertial& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
class Visual
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Visual>;
  using ConstPtr = std::shared_ptr<const Visual>;
 
  Visual();
  ~Visual() = default;
  Visual(const Visual&) = default;
  Visual& operator=(const Visual&) = default;
  Visual(Visual&&) = default;
  Visual& operator=(Visual&&) = default;
 
  Eigen::Isometry3d origin;
  std::shared_ptr<const tesseract_geometry::Geometry> geometry;
 
  Material::Ptr material;
  std::string name;
 
  void clear();
 
  bool operator==(const Visual& rhs) const;
  bool operator!=(const Visual& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
class Collision
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Collision>;
  using ConstPtr = std::shared_ptr<const Collision>;
 
  Collision();
  ~Collision() = default;
  Collision(const Collision&) = default;
  Collision& operator=(const Collision&) = default;
  Collision(Collision&&) = default;
  Collision& operator=(Collision&&) = default;
 
  Eigen::Isometry3d origin;
  std::shared_ptr<const tesseract_geometry::Geometry> geometry;
  std::string name;
 
  void clear();
 
  bool operator==(const Collision& rhs) const;
  bool operator!=(const Collision& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
class Link
{
public:
  using Ptr = std::shared_ptr<Link>;
  using ConstPtr = std::shared_ptr<const Link>;
 
  Link(std::string name);
  Link() = default;
  ~Link() = default;
  // Links are non-copyable as their name must be unique
  Link(const Link& other) = delete;
  Link& operator=(const Link& other) = delete;
 
  Link(Link&& other) = default;
  Link& operator=(Link&& other) = default;
 
  const std::string& getName() const;
 
  Inertial::Ptr inertial;
 
  std::vector<Visual::Ptr> visual;
 
  std::vector<Collision::Ptr> collision;
 
  void clear();
 
  bool operator==(const Link& rhs) const;
  bool operator!=(const Link& rhs) const;
 
  Link clone() const;
 
  Link clone(const std::string& name) const;
 
private:
  std::string name_;
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
}  // namespace tesseract_scene_graph
 
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::Material)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::Inertial)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::Visual)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::Collision)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::Link)
 
#endif  // TESSERACT_SCENE_GRAPH_LINK_H