change_collision_margins_command.h

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#ifndef TESSERACT_ENVIRONMENT_CHANGE_COLLISION_MARGINS_COMMAND_H
#define TESSERACT_ENVIRONMENT_CHANGE_COLLISION_MARGINS_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <memory>
#include <unordered_map>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
#include <tesseract_common/collision_margin_data.h>
 
namespace tesseract_environment
{
using CollisionMarginData = tesseract_common::CollisionMarginData;
using CollisionMarginOverrideType = tesseract_common::CollisionMarginOverrideType;
using PairsCollisionMarginData = tesseract_common::PairsCollisionMarginData;
 
class ChangeCollisionMarginsCommand : public Command
{
public:
  using Ptr = std::shared_ptr<ChangeCollisionMarginsCommand>;
  using ConstPtr = std::shared_ptr<const ChangeCollisionMarginsCommand>;
 
  ChangeCollisionMarginsCommand();
 
  ChangeCollisionMarginsCommand(
      double default_margin,
      CollisionMarginOverrideType override_type = CollisionMarginOverrideType::OVERRIDE_DEFAULT_MARGIN);
 
  ChangeCollisionMarginsCommand(
      PairsCollisionMarginData pairs_margin,
      CollisionMarginOverrideType override_type = CollisionMarginOverrideType::OVERRIDE_PAIR_MARGIN);
 
  ChangeCollisionMarginsCommand(CollisionMarginData collision_margin_data,
                                CollisionMarginOverrideType override_type = CollisionMarginOverrideType::REPLACE);
 
  tesseract_common::CollisionMarginData getCollisionMarginData() const;
  tesseract_common::CollisionMarginOverrideType getCollisionMarginOverrideType() const;
 
  bool operator==(const ChangeCollisionMarginsCommand& rhs) const;
  bool operator!=(const ChangeCollisionMarginsCommand& rhs) const;
 
private:
  CollisionMarginData collision_margin_data_;
  CollisionMarginOverrideType collision_margin_override_{ CollisionMarginOverrideType::OVERRIDE_DEFAULT_MARGIN };
 
  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::ChangeCollisionMarginsCommand, "ChangeCollisionMarginsCommand")
#endif  // TESSERACT_ENVIRONMENT_CHANGE_COLLISION_MARGINS_COMMAND_H