146 lines
4.5 KiB
C
146 lines
4.5 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** \author Dalibor Matura, Jia Pan */
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#ifndef FCL_ARTICULATED_MODEL_LINK_H
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#define FCL_ARTICULATED_MODEL_LINK_H
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#include "fcl/common/data_types.h"
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#include "fcl/object/collision_object.h"
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#include <memory>
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#include <vector>
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namespace fcl
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{
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template <typename S>
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class Joint;
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template <typename S>
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class Link
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{
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public:
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Link(const std::string& name);
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const std::string& getName() const;
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void setName(const std::string& name);
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void addChildJoint(const std::shared_ptr<Joint>& joint);
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void setParentJoint(const std::shared_ptr<Joint>& joint);
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void addObject(const std::shared_ptr<CollisionObject<S>>& object);
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std::size_t getNumChildJoints() const;
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std::size_t getNumObjects() const;
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protected:
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std::string name_;
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std::vector<std::shared_ptr<CollisionObject<S>> > objects_;
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std::vector<std::shared_ptr<Joint> > children_joints_;
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std::shared_ptr<Joint> parent_joint_;
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};
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//============================================================================//
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// //
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// Implementations //
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// //
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//============================================================================//
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//==============================================================================
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template <typename S>
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Link<S>::Link(const std::string& name) : name_(name)
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{}
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//==============================================================================
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template <typename S>
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const std::string& Link<S>::getName() const
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{
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return name_;
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}
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//==============================================================================
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template <typename S>
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void Link<S>::setName(const std::string& name)
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{
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name_ = name;
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}
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//==============================================================================
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template <typename S>
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void Link<S>::addChildJoint(const std::shared_ptr<Joint>& joint)
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{
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children_joints_.push_back(joint);
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}
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//==============================================================================
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template <typename S>
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void Link<S>::setParentJoint(const std::shared_ptr<Joint>& joint)
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{
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parent_joint_ = joint;
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}
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//==============================================================================
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template <typename S>
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void Link<S>::addObject(const std::shared_ptr<CollisionObject<S>>& object)
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{
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objects_.push_back(object);
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}
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//==============================================================================
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template <typename S>
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std::size_t Link<S>::getNumChildJoints() const
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{
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return children_joints_.size();
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}
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//==============================================================================
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template <typename S>
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std::size_t Link<S>::getNumObjects() const
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{
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return objects_.size();
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}
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} // namespace fcl
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#endif
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