add_link_command.h

Go to the documentation of this file.

 
#ifndef TESSERACT_ENVIRONMENT_ADD_LINK_COMMAND_H
#define TESSERACT_ENVIRONMENT_ADD_LINK_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>
#include <tesseract_scene_graph/link.h>
 
namespace tesseract_environment
{
class AddLinkCommand : public Command
{
public:
  using Ptr = std::shared_ptr<AddLinkCommand>;
  using ConstPtr = std::shared_ptr<const AddLinkCommand>;
 
  AddLinkCommand() : Command(CommandType::ADD_LINK){};
  AddLinkCommand(const tesseract_scene_graph::Link& link, bool replace_allowed = false)
    : Command(CommandType::ADD_LINK)
    , link_(std::make_shared<tesseract_scene_graph::Link>(link.clone()))
    , joint_(nullptr)
    , replace_allowed_(replace_allowed)
  {
  }
 
  AddLinkCommand(const tesseract_scene_graph::Link& link,
                 const tesseract_scene_graph::Joint& joint,
                 bool replace_allowed = false)
    : Command(CommandType::ADD_LINK)
    , link_(std::make_shared<tesseract_scene_graph::Link>(link.clone()))
    , joint_(std::make_shared<tesseract_scene_graph::Joint>(joint.clone()))
    , replace_allowed_(replace_allowed)
  {
    if (joint_->child_link_name != link.getName())
      throw std::runtime_error("AddLinkCommand: The provided joint child link name must equal the name of the provided "
                               "link.");
 
  }
 
  const tesseract_scene_graph::Link::ConstPtr& getLink() const { return link_; }
  const tesseract_scene_graph::Joint::ConstPtr& getJoint() const { return joint_; }
  bool replaceAllowed() const { return replace_allowed_; }
 
  bool operator==(const AddLinkCommand& rhs) const;
  bool operator!=(const AddLinkCommand& rhs) const;
 
private:
  tesseract_scene_graph::Link::ConstPtr link_;
  tesseract_scene_graph::Joint::ConstPtr joint_;
  bool replace_allowed_{ false };
 
  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::AddLinkCommand, "AddLinkCommand")
 
#endif  // TESSERACT_ENVIRONMENT_ADD_COMMAND_H