138 lines
4.9 KiB
C++
138 lines
4.9 KiB
C++
/*
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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_MODEL_CONFIG_H
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#define FCL_ARTICULATED_MODEL_MODEL_CONFIG_H
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#include <string>
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#include <map>
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#include <memory>
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#include "fcl/common/data_types.h"
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#include "fcl/articulated_model/joint_config.h"
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namespace fcl
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{
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template <typename S>
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class ModelConfig
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{
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public:
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ModelConfig();
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ModelConfig(const ModelConfig& model_cfg);
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ModelConfig(std::map<std::string, std::shared_ptr<Joint> > joints_map);
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JointConfig getJointConfigByJointName(const std::string& joint_name) const;
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JointConfig& getJointConfigByJointName(const std::string& joint_name);
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JointConfig getJointConfigByJoint(std::shared_ptr<Joint> joint) const;
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JointConfig& getJointConfigByJoint(std::shared_ptr<Joint> joint);
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std::map<std::string, JointConfig> getJointCfgsMap() const
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{ return joint_cfgs_map_; }
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private:
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std::map<std::string, JointConfig> joint_cfgs_map_;
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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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ModelConfig<S>::ModelConfig()
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{
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// Do nothing
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}
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//==============================================================================
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template <typename S>
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ModelConfig<S>::ModelConfig(const ModelConfig& model_cfg) :
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joint_cfgs_map_(model_cfg.joint_cfgs_map_)
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{}
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//==============================================================================
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template <typename S>
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ModelConfig<S>::ModelConfig(std::map<std::string, std::shared_ptr<Joint> > joints_map)
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{
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std::map<std::string, std::shared_ptr<Joint> >::iterator it;
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for(it = joints_map.begin(); it != joints_map.end(); ++it)
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joint_cfgs_map_[it->first] = JointConfig(it->second);
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}
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//==============================================================================
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template <typename S>
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JointConfig ModelConfig<S>::getJointConfigByJointName(const std::string& joint_name) const
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{
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std::map<std::string, JointConfig>::const_iterator it = joint_cfgs_map_.find(joint_name);
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assert(it != joint_cfgs_map_.end());
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return it->second;
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}
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//==============================================================================
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template <typename S>
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JointConfig& ModelConfig<S>::getJointConfigByJointName(const std::string& joint_name)
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{
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std::map<std::string, JointConfig>::iterator it = joint_cfgs_map_.find(joint_name);
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assert(it != joint_cfgs_map_.end());
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return it->second;
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}
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//==============================================================================
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template <typename S>
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JointConfig ModelConfig<S>::getJointConfigByJoint(std::shared_ptr<Joint> joint) const
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{
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return getJointConfigByJointName(joint->getName());
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}
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//==============================================================================
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template <typename S>
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JointConfig& ModelConfig<S>::getJointConfigByJoint(std::shared_ptr<Joint> joint)
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{
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return getJointConfigByJointName(joint->getName());
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}
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} // namespace fcl
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#endif
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