RigidModel.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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 *   met: http://www.gnu.org/copyleft/gpl.html.
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#ifndef _MIRA_RIGIDMODEL_H_
#define _MIRA_RIGIDMODEL_H_

#include <fw/Framework.h>

#include <serialization/Serialization.h>
#include <serialization/adapters/std/map>
#include <serialization/adapters/std/list>
#include <serialization/adapters/boost/shared_ptr.hpp>

#include <model/Link.h>
#include <model/Joint.h>
#include <model/Footprint.h>

namespace mira { namespace model {


class RigidModel : public Object
{
    MIRA_OBJECT(RigidModel)
public:
    
    typedef std::list<LinkPtr> LinkList;
    typedef std::map<std::string, JointPtr> JointMap;
    typedef std::map<std::string, MaterialPtr> MaterialMap;

    virtual ~RigidModel() {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Name", name, "The name of this model", "");
        r.member("Links", links, "The links of this model", LinkList());
        r.member("Joints", joints, "The joints of this model", JointMap());
        r.member("Materials", materials, "The materials of this model", MaterialMap());
    }

    void reflect(XMLDeserializer& r);

    void clear();

    std::string getRootLink() const;

    typedef std::list<std::pair<GeometryPtr, RigidTransform3f>,
                      Eigen::aligned_allocator<std::pair<GeometryPtr, RigidTransform3f>>> CollisionGeometries;

    CollisionGeometries getCollisionGeometries(std::string targetFrame="",
                                               const Time& timestamp = Time::now(),
                                               const std::string& filter = "") const;

    std::list<Box3f> getCollisionBoundingBoxes(std::string targetFrame="",
                                               const Time& timestamp = Time::now(),
                                               const std::string& filter = "") const;

    Footprint getFootprint(std::string targetFrame = "",
                           const Time& timestamp = Time::now(),
                           const std::string& filter = "") const;

    void resolveAndPublishLinks(const std::string& ns,
                                const Time& timestamp = Time::now());

    void publishJoint(const std::string& name, float value,
                      const Time& timestamp = Time::now()) const;

    std::string name;       
    LinkList links;         
    JointMap joints;        
    MaterialMap materials;  
};

typedef boost::shared_ptr<RigidModel> RigidModelPtr;


}}

#endif