ofkt_node.h

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#ifndef TESSERACT_STATE_SOLVER_OFKT_NODE_H
#define TESSERACT_STATE_SOLVER_OFKT_NODE_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <Eigen/Geometry>
#include <memory>
#include <string>
#include <vector>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_scene_graph/joint.h>
 
namespace tesseract_scene_graph
{
class OFKTNode
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using UPtr = std::unique_ptr<OFKTNode>;
  using Ptr = std::shared_ptr<OFKTNode>;
  using ConstPtr = std::shared_ptr<const OFKTNode>;
 
  OFKTNode() = default;
  virtual ~OFKTNode() = default;
  OFKTNode(const OFKTNode&) = delete;
  OFKTNode& operator=(const OFKTNode&) = delete;
  OFKTNode(OFKTNode&&) = delete;
  OFKTNode& operator=(OFKTNode&&) = delete;
 
  virtual JointType getType() const = 0;
 
  virtual void setParent(OFKTNode* parent) = 0;
 
  virtual OFKTNode* getParent() = 0;
 
  virtual const OFKTNode* getParent() const = 0;
 
  virtual const std::string& getLinkName() const = 0;
 
  virtual const std::string& getJointName() const = 0;
 
  virtual void storeJointValue(double joint_value) = 0;
 
  virtual double getJointValue() const = 0;
 
  virtual bool hasJointValueChanged() const = 0;
 
  virtual void setStaticTransformation(Eigen::Isometry3d static_tf) = 0;
 
  virtual const Eigen::Isometry3d& getStaticTransformation() const = 0;
 
  virtual void computeAndStoreLocalTransformation() = 0;
 
  virtual const Eigen::Isometry3d& getLocalTransformation() const = 0;
 
  virtual Eigen::Isometry3d computeLocalTransformation(double joint_value) const = 0;
 
  virtual void computeAndStoreWorldTransformation() = 0;
 
  virtual const Eigen::Isometry3d& getWorldTransformation() const = 0;
 
  virtual bool updateWorldTransformationRequired() const = 0;
 
  virtual Eigen::Matrix<double, 6, 1> getLocalTwist() const = 0;
 
  virtual void addChild(OFKTNode* node) = 0;
 
  virtual void removeChild(const OFKTNode* node) = 0;
 
  virtual std::vector<OFKTNode*>& getChildren() = 0;
 
  virtual const std::vector<const OFKTNode*>& getChildren() const = 0;
};
}  // namespace tesseract_scene_graph
 
#endif  // TESSERACT_STATE_SOLVER_OFKT_NODE_H