tesseract_environment::AddLinkCommand Class Reference

#include <add_link_command.h>

Inheritance diagram for tesseract_environment::AddLinkCommand:

Collaboration diagram for tesseract_environment::AddLinkCommand:

Public Types
using	Ptr = std::shared_ptr< AddLinkCommand >
using	ConstPtr = std::shared_ptr< const AddLinkCommand >
Public Types inherited from tesseract_environment::Command
using	Ptr = std::shared_ptr< Command >
using	ConstPtr = std::shared_ptr< const Command >

Public Member Functions
	AddLinkCommand ()
	AddLinkCommand (const tesseract_scene_graph::Link &link, bool replace_allowed=false)
	Adds or replace a link to the environment. More...
	AddLinkCommand (const tesseract_scene_graph::Link &link, const tesseract_scene_graph::Joint &joint, bool replace_allowed=false)
	Adds a link and joint in the environment. More...
const tesseract_scene_graph::Link::ConstPtr &	getLink () const
const tesseract_scene_graph::Joint::ConstPtr &	getJoint () const
bool	replaceAllowed () const
bool	operator== (const AddLinkCommand &rhs) const
bool	operator!= (const AddLinkCommand &rhs) const
Public Member Functions inherited from tesseract_environment::Command
	Command (CommandType type=CommandType::UNINITIALIZED)
virtual	~Command ()=default
	Command (const Command &)=default
Command &	operator= (const Command &)=default
	Command (Command &&)=default
Command &	operator= (Command &&)=default
CommandType	getType () const
bool	operator== (const Command &rhs) const
bool	operator!= (const Command &rhs) const

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Private Attributes
tesseract_scene_graph::Link::ConstPtr	link_
tesseract_scene_graph::Joint::ConstPtr	joint_
bool	replace_allowed_ { false }

Friends
class	boost::serialization::access

Member Typedef Documentation

ConstPtr

using tesseract_environment::AddLinkCommand::ConstPtr = std::shared_ptr<const AddLinkCommand>

Ptr

using tesseract_environment::AddLinkCommand::Ptr = std::shared_ptr<AddLinkCommand>

Constructor & Destructor Documentation

AddLinkCommand() [1/3]

tesseract_environment::AddLinkCommand::AddLinkCommand ( )

inline

AddLinkCommand() [2/3]

tesseract_environment::AddLinkCommand::AddLinkCommand ( const tesseract_scene_graph::Link &  link, bool  replace_allowed = false  )

inline

Adds or replace a link to the environment.

If the link exists and replace_allowed equals true:

   This command should replace the current link with the new link

If the link exists and replace_allowed equals false:

   This command should result in an error

If the link does not exist:

   This command should attach the link to the root link with a fixed joint
   with a joint name of joint_{link name}".

Parameters

link	The link to be added to the graph
replace_allowed	If true then if the link exists it will be replaced, otherwise if false it will fail.

AddLinkCommand() [3/3]

tesseract_environment::AddLinkCommand::AddLinkCommand ( const tesseract_scene_graph::Link &  link, const tesseract_scene_graph::Joint &  joint, bool  replace_allowed = false  )

inline

Adds a link and joint in the environment.

If the link and joint exist and replace is allowed

   This command will replace both link and joint if the link is the child link, otherwise this results in error

If the link and joint exist and replace is not allowed

   This command should result in an error

If the link or joint only exists:

   This command should result in an error

Parameters

link	The link to be added to the graph
joint	The joint to be used to attach link to environment
replace_allowed	If true then if the link and joint exists it will be replaced, otherwise if false it will fail.

Todo:

if joint is not fixed we should verify that limits are provided

Member Function Documentation

getJoint()

const tesseract_scene_graph::Joint::ConstPtr & tesseract_environment::AddLinkCommand::getJoint ( ) const

inline

getLink()

const tesseract_scene_graph::Link::ConstPtr & tesseract_environment::AddLinkCommand::getLink ( ) const

inline

operator!=()

bool tesseract_environment::AddLinkCommand::operator!=

(

const AddLinkCommand &

rhs

)

const

operator==()

bool tesseract_environment::AddLinkCommand::operator==

(

const AddLinkCommand &

rhs

)

const

replaceAllowed()

bool tesseract_environment::AddLinkCommand::replaceAllowed ( ) const

inline

serialize()

template<class Archive >

void tesseract_environment::AddLinkCommand::serialize ( Archive &  ar, const unsigned int  version  )

private

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Member Data Documentation

joint_

tesseract_scene_graph::Joint::ConstPtr tesseract_environment::AddLinkCommand::joint_

private

link_

tesseract_scene_graph::Link::ConstPtr tesseract_environment::AddLinkCommand::link_

private

replace_allowed_

bool tesseract_environment::AddLinkCommand::replace_allowed_ { false }

private

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The documentation for this class was generated from the following files:

• tesseract_environment/include/tesseract_environment/commands/add_link_command.h
• tesseract_environment/src/commands/add_link_command.cpp