scene_state.h

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#ifndef TESSERACT_SCENE_GRAPH_SCENE_STATE_H
#define TESSERACT_SCENE_GRAPH_SCENE_STATE_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <Eigen/Core>
#include <unordered_map>
#include <vector>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
#include <tesseract_common/eigen_types.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_scene_graph
{
struct SceneState
{
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<SceneState>;
  using ConstPtr = std::shared_ptr<const SceneState>;
  using UPtr = std::unique_ptr<SceneState>;
  using ConstUPtr = std::unique_ptr<const SceneState>;
 
  std::unordered_map<std::string, double> joints;
 
  tesseract_common::TransformMap floating_joints;
 
  tesseract_common::TransformMap link_transforms;
 
  tesseract_common::TransformMap joint_transforms;
 
  Eigen::VectorXd getJointValues(const std::vector<std::string>& joint_names) const;
 
  tesseract_common::TransformMap getFloatingJointValues(const std::vector<std::string>& joint_names) const;
 
  bool operator==(const SceneState& rhs) const;
  bool operator!=(const SceneState& 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
};
}  // namespace tesseract_scene_graph
 
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::SceneState)
#endif  // TESSERACT_SCENE_GRAPH_SCENE_STATE_H