replace_joint_command.h

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#ifndef TESSERACT_ENVIRONMENT_REPLACE_JOINT_COMMAND_H
#define TESSERACT_ENVIRONMENT_REPLACE_JOINT_COMMAND_H
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
#include <tesseract_scene_graph/joint.h>
 
namespace tesseract_environment
{
class ReplaceJointCommand : public Command
{
public:
  using Ptr = std::shared_ptr<ReplaceJointCommand>;
  using ConstPtr = std::shared_ptr<const ReplaceJointCommand>;
 
  ReplaceJointCommand() : Command(CommandType::REPLACE_JOINT){};
 
  ReplaceJointCommand(const tesseract_scene_graph::Joint& joint)
    : Command(CommandType::REPLACE_JOINT), joint_(std::make_shared<tesseract_scene_graph::Joint>(joint.clone()))
  {
    if (joint_->type != tesseract_scene_graph::JointType::FIXED)
    {
      //      if ()
    }
  }
 
  const tesseract_scene_graph::Joint::ConstPtr& getJoint() const { return joint_; }
 
  bool operator==(const ReplaceJointCommand& rhs) const;
  bool operator!=(const ReplaceJointCommand& rhs) const;
 
private:
  tesseract_scene_graph::Joint::ConstPtr joint_;
 
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
}  // namespace tesseract_environment
 
#include <boost/serialization/export.hpp>
#include <boost/serialization/tracking.hpp>
BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ReplaceJointCommand, "ReplaceJointCommand")
#endif  // TESSERACT_ENVIRONMENT_REPLACE_JOINT_COMMAND_H