srdf_model.h

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#ifndef TESSERACT_SRDF_SRDF_MODEL_H
#define TESSERACT_SRDF_SRDF_MODEL_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <string>
#include <memory>
#include <array>
#include <Eigen/Core>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_srdf/kinematics_information.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_common/allowed_collision_matrix.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_common/collision_margin_data.h>
 
namespace tesseract_srdf
{
using CollisionMarginData = tesseract_common::CollisionMarginData;
using PairsCollisionMarginData = tesseract_common::PairsCollisionMarginData;
 
class SRDFModel
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<SRDFModel>;
  using ConstPtr = std::shared_ptr<const SRDFModel>;
 
  SRDFModel() = default;
  virtual ~SRDFModel() = default;
  SRDFModel(const SRDFModel&) = default;
  SRDFModel& operator=(const SRDFModel&) = default;
  SRDFModel(SRDFModel&&) = default;
  SRDFModel& operator=(SRDFModel&&) = default;
 
  void initFile(const tesseract_scene_graph::SceneGraph& scene_graph,
                const std::string& filename,
                const tesseract_common::ResourceLocator& locator);
 
  void initString(const tesseract_scene_graph::SceneGraph& scene_graph,
                  const std::string& xmlstring,
                  const tesseract_common::ResourceLocator& locator);
 
  bool saveToFile(const std::string& file_path) const;
 
  void clear();
 
  std::string name{ "undefined" };
 
  std::array<int, 3> version{ { 1, 0, 0 } };
 
  KinematicsInformation kinematics_information;
 
  tesseract_common::ContactManagersPluginInfo contact_managers_plugin_info;
 
  tesseract_common::AllowedCollisionMatrix acm;
 
  tesseract_common::CollisionMarginData::Ptr collision_margin_data;
 
  tesseract_common::CalibrationInfo calibration_info;
 
  bool operator==(const SRDFModel& rhs) const;
  bool operator!=(const SRDFModel& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
}  // namespace tesseract_srdf
 
#include <boost/serialization/export.hpp>
#include <boost/serialization/tracking.hpp>
BOOST_CLASS_EXPORT_KEY2(tesseract_srdf::SRDFModel, "SRDFModel")
 
#endif  // TESSERACT_SRDF_SRDF_MODEL_H