238 lines
7.1 KiB
C++
238 lines
7.1 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2011-2014, Willow Garage, Inc.
|
|
* Copyright (c) 2014-2016, Open Source Robotics Foundation
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of Open Source Robotics Foundation nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
/** \author Dalibor Matura, Jia Pan */
|
|
|
|
#ifndef FCL_ARTICULATED_MODEL_MODEL_H
|
|
#define FCL_ARTICULATED_MODEL_MODEL_H
|
|
|
|
#include "fcl/articulated_model/joint.h"
|
|
#include "fcl/articulated_model/link.h"
|
|
|
|
#include "fcl/common/data_types.h"
|
|
#include <memory>
|
|
|
|
#include <map>
|
|
#include <stdexcept>
|
|
|
|
namespace fcl
|
|
{
|
|
|
|
class ModelParseError : public std::runtime_error
|
|
{
|
|
public:
|
|
ModelParseError(const std::string& error_msg) : std::runtime_error(error_msg) {}
|
|
};
|
|
|
|
template <typename S>
|
|
class Model
|
|
{
|
|
public:
|
|
Model() {}
|
|
|
|
virtual ~Model() {}
|
|
|
|
const std::string& getName() const;
|
|
|
|
void addLink(const std::shared_ptr<Link>& link);
|
|
|
|
void addJoint(const std::shared_ptr<Joint>& joint);
|
|
|
|
void initRoot(const std::map<std::string, std::string>& link_parent_tree);
|
|
|
|
void initTree(std::map<std::string, std::string>& link_parent_tree);
|
|
|
|
std::size_t getNumDofs() const;
|
|
|
|
std::size_t getNumLinks() const;
|
|
|
|
std::size_t getNumJoints() const;
|
|
|
|
std::shared_ptr<Link> getRoot() const;
|
|
std::shared_ptr<Link> getLink(const std::string& name) const;
|
|
std::shared_ptr<Joint> getJoint(const std::string& name) const;
|
|
|
|
std::vector<std::shared_ptr<Link> > getLinks() const;
|
|
std::vector<std::shared_ptr<Joint> > getJoints() const;
|
|
protected:
|
|
std::shared_ptr<Link> root_link_;
|
|
std::map<std::string, std::shared_ptr<Link> > links_;
|
|
std::map<std::string, std::shared_ptr<Joint> > joints_;
|
|
|
|
std::string name_;
|
|
|
|
};
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
std::shared_ptr<Link> Model::getRoot() const
|
|
{
|
|
return root_link_;
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
std::shared_ptr<Link> Model::getLink(const std::string& name) const
|
|
{
|
|
std::shared_ptr<Link> ptr;
|
|
std::map<std::string, std::shared_ptr<Link> >::const_iterator it = links_.find(name);
|
|
if(it == links_.end())
|
|
ptr.reset();
|
|
else
|
|
ptr = it->second;
|
|
return ptr;
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
std::shared_ptr<Joint> Model::getJoint(const std::string& name) const
|
|
{
|
|
std::shared_ptr<Joint> ptr;
|
|
std::map<std::string, std::shared_ptr<Joint> >::const_iterator it = joints_.find(name);
|
|
if(it == joints_.end())
|
|
ptr.reset();
|
|
else
|
|
ptr = it->second;
|
|
return ptr;
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
const std::string& Model::getName() const
|
|
{
|
|
return name_;
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
std::vector<std::shared_ptr<Link> > Model::getLinks() const
|
|
{
|
|
std::vector<std::shared_ptr<Link> > links;
|
|
for(std::map<std::string, std::shared_ptr<Link> >::const_iterator it = links_.begin(); it != links_.end(); ++it)
|
|
{
|
|
links.push_back(it->second);
|
|
}
|
|
|
|
return links;
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
std::size_t Model::getNumLinks() const
|
|
{
|
|
return links_.size();
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
std::size_t Model::getNumJoints() const
|
|
{
|
|
return joints_.size();
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
std::size_t Model::getNumDofs() const
|
|
{
|
|
std::size_t dof = 0;
|
|
for(std::map<std::string, std::shared_ptr<Joint> >::const_iterator it = joints_.begin(); it != joints_.end(); ++it)
|
|
{
|
|
dof += it->second->getNumDofs();
|
|
}
|
|
|
|
return dof;
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
void Model::addLink(const std::shared_ptr<Link>& link)
|
|
{
|
|
links_[link->getName()] = link;
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
void Model::addJoint(const std::shared_ptr<Joint>& joint)
|
|
{
|
|
joints_[joint->getName()] = joint;
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
void Model::initRoot(const std::map<std::string, std::string>& link_parent_tree)
|
|
{
|
|
root_link_.reset();
|
|
|
|
/// find the links that have no parent in the tree
|
|
for(std::map<std::string, std::shared_ptr<Link> >::const_iterator it = links_.begin(); it != links_.end(); ++it)
|
|
{
|
|
std::map<std::string, std::string>::const_iterator parent = link_parent_tree.find(it->first);
|
|
if(parent == link_parent_tree.end())
|
|
{
|
|
if(!root_link_)
|
|
{
|
|
root_link_ = getLink(it->first);
|
|
}
|
|
else
|
|
{
|
|
throw ModelParseError("Two root links found: [" + root_link_->getName() + "] and [" + it->first + "]");
|
|
}
|
|
}
|
|
}
|
|
|
|
if(!root_link_)
|
|
throw ModelParseError("No root link found.");
|
|
}
|
|
|
|
//==============================================================================
|
|
template <typename S>
|
|
void Model::initTree(std::map<std::string, std::string>& link_parent_tree)
|
|
{
|
|
for(std::map<std::string, std::shared_ptr<Joint> >::iterator it = joints_.begin(); it != joints_.end(); ++it)
|
|
{
|
|
std::string parent_link_name = it->second->getParentLink()->getName();
|
|
std::string child_link_name = it->second->getChildLink()->getName();
|
|
|
|
it->second->getParentLink()->addChildJoint(it->second);
|
|
it->second->getChildLink()->setParentJoint(it->second);
|
|
|
|
link_parent_tree[child_link_name] = parent_link_name;
|
|
}
|
|
}
|
|
|
|
} // namespace fcl
|
|
|
|
#endif
|