link_model.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <string>
#include <vector>
#include <utility>
#include <map>
#include <Eigen/Geometry>
#include <eigen_stl_containers/eigen_stl_vector_container.h>
#include <moveit/macros/class_forward.h>
#include <geometric_shapes/check_isometry.h>
 
namespace shapes
{
MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
}
 
namespace moveit
{
namespace core
{
class JointModel;
class LinkModel;
 
typedef std::map<std::string, LinkModel*> LinkModelMap;
 
using LinkModelMapConst = std::map<std::string, const LinkModel*>;
 
using LinkTransformMap = std::map<const LinkModel*, Eigen::Isometry3d, std::less<const LinkModel*>,
                                  Eigen::aligned_allocator<std::pair<const LinkModel* const, Eigen::Isometry3d> > >;
 
class LinkModel
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  LinkModel(const std::string& name, size_t link_index);
  ~LinkModel();
 
  const std::string& getName() const
  {
    return name_;
  }
 
  size_t getLinkIndex() const
  {
    return link_index_;
  }
 
  int getFirstCollisionBodyTransformIndex() const
  {
    return first_collision_body_transform_index_;
  }
 
  void setFirstCollisionBodyTransformIndex(int index)
  {
    first_collision_body_transform_index_ = index;
  }
 
  const JointModel* getParentJointModel() const
  {
    return parent_joint_model_;
  }
 
  void setParentJointModel(const JointModel* joint);
 
  const LinkModel* getParentLinkModel() const
  {
    return parent_link_model_;
  }
 
  void setParentLinkModel(const LinkModel* link)
  {
    parent_link_model_ = link;
  }
 
  const std::vector<const JointModel*>& getChildJointModels() const
  {
    return child_joint_models_;
  }
 
  void addChildJointModel(const JointModel* joint)
  {
    child_joint_models_.push_back(joint);
  }
 
  const Eigen::Isometry3d& getJointOriginTransform() const
  {
    return joint_origin_transform_;
  }
 
  bool jointOriginTransformIsIdentity() const
  {
    return joint_origin_transform_is_identity_;
  }
 
  bool parentJointIsFixed() const
  {
    return is_parent_joint_fixed_;
  }
 
  void setJointOriginTransform(const Eigen::Isometry3d& transform);
 
  const EigenSTL::vector_Isometry3d& getCollisionOriginTransforms() const
  {
    return collision_origin_transform_;
  }
 
  const std::vector<int>& areCollisionOriginTransformsIdentity() const
  {
    return collision_origin_transform_is_identity_;
  }
 
  const std::vector<shapes::ShapeConstPtr>& getShapes() const
  {
    return shapes_;
  }
 
  void setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Isometry3d& origins);
 
  const Eigen::Vector3d& getShapeExtentsAtOrigin() const
  {
    return shape_extents_;
  }
 
  const Eigen::Vector3d& getCenteredBoundingBoxOffset() const
  {
    return centered_bounding_box_offset_;
  }
 
  const LinkTransformMap& getAssociatedFixedTransforms() const
  {
    return associated_fixed_transforms_;
  }
 
  void addAssociatedFixedTransform(const LinkModel* link_model, const Eigen::Isometry3d& transform)
  {
    ASSERT_ISOMETRY(transform);  // unsanitized input, could contain a non-isometry
    associated_fixed_transforms_[link_model] = transform;
  }
 
  const std::string& getVisualMeshFilename() const
  {
    return visual_mesh_filename_;
  }
 
  const Eigen::Vector3d& getVisualMeshScale() const
  {
    return visual_mesh_scale_;
  }
 
  const Eigen::Isometry3d& getVisualMeshOrigin() const
  {
    return visual_mesh_origin_;
  }
 
  void setVisualMesh(const std::string& visual_mesh, const Eigen::Isometry3d& origin, const Eigen::Vector3d& scale);
 
private:
  std::string name_;
 
  size_t link_index_;
 
  const JointModel* parent_joint_model_;
 
  const LinkModel* parent_link_model_;
 
  std::vector<const JointModel*> child_joint_models_;
 
  bool is_parent_joint_fixed_;
 
  bool joint_origin_transform_is_identity_;
 
  Eigen::Isometry3d joint_origin_transform_;
 
  EigenSTL::vector_Isometry3d collision_origin_transform_;
 
  std::vector<int> collision_origin_transform_is_identity_;
 
  LinkTransformMap associated_fixed_transforms_;
 
  std::vector<shapes::ShapeConstPtr> shapes_;
 
  Eigen::Vector3d shape_extents_;
 
  Eigen::Vector3d centered_bounding_box_offset_;
 
  std::string visual_mesh_filename_;
 
  Eigen::Isometry3d visual_mesh_origin_;
 
  Eigen::Vector3d visual_mesh_scale_;
 
  int first_collision_body_transform_index_;
};
}  // namespace core
}  // namespace moveit