link.h

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/* Author: Wim Meeussen */
 
#ifndef TESSERACT_SCENE_GRAPH_LINK_H
#define TESSERACT_SCENE_GRAPH_LINK_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <string>
#include <vector>
#include <map>
#include <memory>
#include <Eigen/Eigen>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_scene_graph/joint.h>
#include <tesseract_geometry/geometry.h>
 
namespace tesseract_scene_graph
{
class Material
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Material>;
  using ConstPtr = std::shared_ptr<const Material>;
 
  Material() = default;
  Material(std::string name) : name_(std::move(name)) { this->clear(); }
 
  const std::string& getName() const { return name_; }
 
  std::string texture_filename;
  Eigen::Vector4d color;
 
  void clear()
  {
    color = Eigen::Vector4d(0.5, 0.5, 0.5, 1.0);
    texture_filename.clear();
  }
  bool operator==(const Material& rhs) const;
  bool operator!=(const Material& rhs) const;
 
private:
  std::string name_;
 
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
#ifndef SWIG
static const auto DEFAULT_TESSERACT_MATERIAL = std::make_shared<Material>("default_tesseract_material");
#endif  // SWIG
 
class Inertial
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Inertial>;
  using ConstPtr = std::shared_ptr<const Inertial>;
 
  Inertial() = default;
  Eigen::Isometry3d origin{ Eigen::Isometry3d::Identity() };
  double mass{ 0 };
  double ixx{ 0 };
  double ixy{ 0 };
  double ixz{ 0 };
  double iyy{ 0 };
  double iyz{ 0 };
  double izz{ 0 };
 
  void clear()
  {
    origin.setIdentity();
    mass = 0;
    ixx = ixy = ixz = iyy = iyz = izz = 0;
  }
  bool operator==(const Inertial& rhs) const;
  bool operator!=(const Inertial& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
class Visual
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Visual>;
  using ConstPtr = std::shared_ptr<const Visual>;
 
  Visual() { this->clear(); }
  Eigen::Isometry3d origin;
  tesseract_geometry::Geometry::Ptr geometry;
 
  Material::Ptr material;
 
  void clear()
  {
    origin.setIdentity();
    material = DEFAULT_TESSERACT_MATERIAL;
    geometry.reset();
    name.clear();
  }
 
  std::string name;
 
  bool operator==(const Visual& rhs) const;
  bool operator!=(const Visual& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
class Collision
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Collision>;
  using ConstPtr = std::shared_ptr<const Collision>;
 
  Collision() { this->clear(); }
  Eigen::Isometry3d origin;
  tesseract_geometry::Geometry::Ptr geometry;
 
  void clear()
  {
    origin.setIdentity();
    geometry.reset();
    name.clear();
  }
 
  std::string name;
 
  bool operator==(const Collision& rhs) const;
  bool operator!=(const Collision& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
class Link
{
public:
  using Ptr = std::shared_ptr<Link>;
  using ConstPtr = std::shared_ptr<const Link>;
 
  Link(std::string name) : name_(std::move(name)) { this->clear(); }
  Link() = default;
  ~Link() = default;
  // Links are non-copyable as their name must be unique
  Link(const Link& other) = delete;
  Link& operator=(const Link& other) = delete;
 
  Link(Link&& other) = default;
  Link& operator=(Link&& other) = default;
 
  const std::string& getName() const { return name_; }
 
  Inertial::Ptr inertial;
 
  std::vector<Visual::Ptr> visual;
 
  std::vector<Collision::Ptr> collision;
 
  void clear()
  {
    this->inertial.reset();
    this->collision.clear();
    this->visual.clear();
  }
 
  bool operator==(const Link& rhs) const;
  bool operator!=(const Link& rhs) const;
 
  Link clone() const { return clone(name_); }
 
  Link clone(const std::string& name) const
  {
    Link ret(name);
    if (this->inertial)
    {
      ret.inertial = std::make_shared<Inertial>(*(this->inertial));
    }
    for (const auto& c : this->collision)
    {
      ret.collision.push_back(std::make_shared<Collision>(*c));
    }
    for (const auto& v : this->visual)
    {
      ret.visual.push_back(std::make_shared<Visual>(*v));
    }
    return ret;
  }
 
private:
  std::string name_;
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
}  // namespace tesseract_scene_graph
 
#include <boost/serialization/export.hpp>
#include <boost/serialization/tracking.hpp>
BOOST_CLASS_EXPORT_KEY2(tesseract_scene_graph::Material, "Material")
BOOST_CLASS_EXPORT_KEY2(tesseract_scene_graph::Inertial, "Inertial")
BOOST_CLASS_EXPORT_KEY2(tesseract_scene_graph::Visual, "Visual")
BOOST_CLASS_EXPORT_KEY2(tesseract_scene_graph::Collision, "Collision")
BOOST_CLASS_EXPORT_KEY2(tesseract_scene_graph::Link, "Link")
 
#endif  // TESSERACT_SCENE_GRAPH_LINK_H