types.h

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#ifndef TESSERACT_COMMON_TYPES_H
#define TESSERACT_COMMON_TYPES_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <vector>
#include <memory>
#include <map>
#include <unordered_map>
#include <boost/filesystem.hpp>
#include <yaml-cpp/yaml.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/kinematic_limits.h>
 
namespace tesseract_common
{
namespace fs = boost::filesystem;
 
template <typename T>
using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
 
template <typename Key, typename Value>
using AlignedMap = std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value>>>;
 
template <typename Key, typename Value>
using AlignedUnorderedMap = std::unordered_map<Key,
                                               Value,
                                               std::hash<Key>,
                                               std::equal_to<Key>,
                                               Eigen::aligned_allocator<std::pair<const Key, Value>>>;
 
using VectorIsometry3d = AlignedVector<Eigen::Isometry3d>;
using VectorVector4d = AlignedVector<Eigen::Vector4d>;
using VectorVector3d = std::vector<Eigen::Vector3d>;
using VectorVector2d = AlignedVector<Eigen::Vector2d>;
using TransformMap = AlignedMap<std::string, Eigen::Isometry3d>;
using Toolpath = AlignedVector<VectorIsometry3d>;
 
using TrajArray = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
 
using LinkNamesPair = std::pair<std::string, std::string>;
 
struct PairHash
{
  std::size_t operator()(const LinkNamesPair& pair) const;
};
 
LinkNamesPair makeOrderedLinkPair(const std::string& link_name1, const std::string& link_name2);
 
void makeOrderedLinkPair(LinkNamesPair& pair, const std::string& link_name1, const std::string& link_name2);
 
// NOLINTNEXTLINE
struct PluginInfo
{
  std::string class_name;
 
  YAML::Node config;
 
  std::string getConfigString() const;
 
  bool operator==(const PluginInfo& rhs) const;
  bool operator!=(const PluginInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void save(Archive& ar, const unsigned int version) const;  // NOLINT
 
  template <class Archive>
  void load(Archive& ar, const unsigned int version);  // NOLINT
 
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
using PluginInfoMap = std::map<std::string, PluginInfo>;
 
struct PluginInfoContainer
{
  std::string default_plugin;
  PluginInfoMap plugins;
  void clear();
 
  bool operator==(const PluginInfoContainer& rhs) const;
  bool operator!=(const PluginInfoContainer& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
struct KinematicsPluginInfo
{
  std::set<std::string> search_paths;
 
  std::set<std::string> search_libraries;
 
  std::map<std::string, tesseract_common::PluginInfoContainer> fwd_plugin_infos;
 
  std::map<std::string, tesseract_common::PluginInfoContainer> inv_plugin_infos;
 
  void insert(const KinematicsPluginInfo& other);
 
  void clear();
 
  bool empty() const;
 
  // Yaml Config key
  static inline const std::string CONFIG_KEY{ "kinematic_plugins" };
 
  bool operator==(const KinematicsPluginInfo& rhs) const;
  bool operator!=(const KinematicsPluginInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
struct ContactManagersPluginInfo
{
  std::set<std::string> search_paths;
 
  std::set<std::string> search_libraries;
 
  tesseract_common::PluginInfoContainer discrete_plugin_infos;
 
  tesseract_common::PluginInfoContainer continuous_plugin_infos;
 
  void insert(const ContactManagersPluginInfo& other);
 
  void clear();
 
  bool empty() const;
 
  // Yaml Config key
  static inline const std::string CONFIG_KEY{ "contact_manager_plugins" };
 
  bool operator==(const ContactManagersPluginInfo& rhs) const;
  bool operator!=(const ContactManagersPluginInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
struct TaskComposerPluginInfo
{
  std::set<std::string> search_paths;
 
  std::set<std::string> search_libraries;
 
  tesseract_common::PluginInfoContainer executor_plugin_infos;
 
  tesseract_common::PluginInfoContainer task_plugin_infos;
 
  void insert(const TaskComposerPluginInfo& other);
 
  void clear();
 
  bool empty() const;
 
  // Yaml Config key
  static inline const std::string CONFIG_KEY{ "task_composer_plugins" };
 
  bool operator==(const TaskComposerPluginInfo& rhs) const;
  bool operator!=(const TaskComposerPluginInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
struct CalibrationInfo
{
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  CalibrationInfo() = default;
 
  tesseract_common::TransformMap joints;
 
  void insert(const CalibrationInfo& other);
 
  void clear();
 
  bool empty() const;
 
  // Yaml Config key
  static inline const std::string CONFIG_KEY{ "calibration" };
 
  bool operator==(const CalibrationInfo& rhs) const;
  bool operator!=(const CalibrationInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
}  // namespace tesseract_common
 
#include <boost/serialization/export.hpp>
#include <boost/serialization/tracking.hpp>
BOOST_CLASS_EXPORT_KEY2(tesseract_common::PluginInfo, "PluginInfo")
BOOST_CLASS_EXPORT_KEY2(tesseract_common::PluginInfoContainer, "PluginInfoContainer")
BOOST_CLASS_EXPORT_KEY2(tesseract_common::KinematicsPluginInfo, "KinematicsPluginInfo")
BOOST_CLASS_EXPORT_KEY2(tesseract_common::ContactManagersPluginInfo, "ContactManagersPluginInfo")
BOOST_CLASS_EXPORT_KEY2(tesseract_common::TaskComposerPluginInfo, "TaskComposerPluginInfo")
BOOST_CLASS_EXPORT_KEY2(tesseract_common::CalibrationInfo, "CalibrationInfo")
 
#endif  // TESSERACT_COMMON_TYPES_H