kinematics_information.h

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#ifndef TESSERACT_SRDF_KINEMATICS_INFORMATION_H
#define TESSERACT_SRDF_KINEMATICS_INFORMATION_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <unordered_map>
#include <string>
#include <vector>
#include <set>
#include <Eigen/Geometry>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/eigen_types.h>
#include <tesseract_common/plugin_info.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_srdf
{
using GroupsJointState = std::unordered_map<std::string, double>;
using GroupsJointStates = std::unordered_map<std::string, GroupsJointState>;
using GroupJointStates = std::unordered_map<std::string, GroupsJointStates>;
using GroupsTCPs = tesseract_common::AlignedMap<std::string, Eigen::Isometry3d>;
using GroupTCPs = tesseract_common::AlignedMap<std::string, GroupsTCPs>;
using ChainGroup = std::vector<std::pair<std::string, std::string>>;
using ChainGroups = std::unordered_map<std::string, ChainGroup>;
using JointGroup = std::vector<std::string>;
using JointGroups = std::unordered_map<std::string, JointGroup>;
using LinkGroup = std::vector<std::string>;
using LinkGroups = std::unordered_map<std::string, LinkGroup>;
using GroupNames = std::set<std::string>;
 
struct KinematicsInformation
{
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  GroupNames group_names;
 
  ChainGroups chain_groups;
 
  JointGroups joint_groups;
 
  LinkGroups link_groups;
 
  GroupJointStates group_states;
 
  GroupTCPs group_tcps;
 
  tesseract_common::KinematicsPluginInfo kinematics_plugin_info;
 
  void insert(const KinematicsInformation& other);
 
  void clear();
 
  bool hasGroup(const std::string& group_name) const;
 
  void addChainGroup(const std::string& group_name, const ChainGroup& chain_group);
 
  void removeChainGroup(const std::string& group_name);
 
  bool hasChainGroup(const std::string& group_name) const;
 
  void addJointGroup(const std::string& group_name, const JointGroup& joint_group);
 
  void removeJointGroup(const std::string& group_name);
 
  bool hasJointGroup(const std::string& group_name) const;
 
  void addLinkGroup(const std::string& group_name, const LinkGroup& link_group);
 
  void removeLinkGroup(const std::string& group_name);
 
  bool hasLinkGroup(const std::string& group_name) const;
 
  void addGroupJointState(const std::string& group_name,
                          const std::string& state_name,
                          const GroupsJointState& joint_state);
 
  void removeGroupJointState(const std::string& group_name, const std::string& state_name);
 
  bool hasGroupJointState(const std::string& group_name, const std::string& state_name) const;
 
  void addGroupTCP(const std::string& group_name, const std::string& tcp_name, const Eigen::Isometry3d& tcp);
 
  void removeGroupTCP(const std::string& group_name, const std::string& tcp_name);
 
  bool hasGroupTCP(const std::string& group_name, const std::string& tcp_name) const;
 
  bool operator==(const KinematicsInformation& rhs) const;
  bool operator!=(const KinematicsInformation& 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_srdf
 
BOOST_CLASS_EXPORT_KEY(tesseract_srdf::KinematicsInformation)
 
#endif  // TESSERACT_SRDF_KINEMATICS_INFORMATION_H