kinematic_options_map.hpp

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/* Author: Acorn Pooley */
 
#pragma once
 
#include <moveit/robot_interaction/kinematic_options.hpp>
#include <mutex>
#include <functional>
 
#include <moveit_robot_interaction_export.h>
 
namespace robot_interaction
{
// Maintains a set of KinematicOptions with a key/value mapping and a default
// value.
class MOVEIT_ROBOT_INTERACTION_EXPORT KinematicOptionsMap
{
public:
  KinematicOptionsMap();

  static const std::string DEFAULT;

  static const std::string ALL;

  bool setStateFromIK(moveit::core::RobotState& state, const std::string& key, const std::string& group,
                      const std::string& tip, const geometry_msgs::msg::Pose& pose) const;

  KinematicOptions getOptions(const std::string& key) const;

  void setOptions(const std::string& key, const KinematicOptions& options,
                  KinematicOptions::OptionBitmask fields = KinematicOptions::ALL);

  void merge(const KinematicOptionsMap& other);
 
private:
  // this protects all members.
  mutable std::mutex lock_;
 
  // default kinematic options.
  // PROTECTED BY lock_
  KinematicOptions defaults_;
 
  typedef std::map<std::string, KinematicOptions> M_options;
 
  // per key kinematic options.
  // If key is not here, defaults are used.
  // PROTECTED BY lock_
  M_options options_;
};
}  // namespace robot_interaction