.. _program_listing_file_include_srdfdom_model.h:

Program Listing for File model.h
================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_srdfdom_model.h>` (``include/srdfdom/model.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author Ioan Sucan */
   
   #ifndef SRDF_MODEL_
   #define SRDF_MODEL_
   
   #include <map>
   #include <string>
   #include <vector>
   #include <utility>
   #include <memory>
   #include <tinyxml2.h>
   
   #if __has_include(<urdf/model.hpp>)
   #include <urdf/model.hpp>
   #else
   #include <urdf/model.h>
   #endif
   
   #include "visibility_control.h"
   
   namespace srdf
   {
   class SRDFDOM_PUBLIC Model
   {
   public:
     Model()
     {
     }
   
     ~Model()
     {
     }
   
     bool initXml(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* xml);
     bool initXml(const urdf::ModelInterface& urdf_model, tinyxml2::XMLDocument* xml);
     bool initFile(const urdf::ModelInterface& urdf_model, const std::string& filename);
     bool initString(const urdf::ModelInterface& urdf_model, const std::string& xmlstring);
   
     struct Group
     {
       std::string name_;
   
       std::vector<std::string> joints_;
   
       std::vector<std::string> links_;
   
       std::vector<std::pair<std::string, std::string>> chains_;
   
       std::vector<std::string> subgroups_;
     };
   
     struct VirtualJoint
     {
       std::string name_;
   
       std::string type_;
   
       std::string parent_frame_;
   
       std::string child_link_;
     };
   
     struct EndEffector
     {
       std::string name_;
   
       std::string parent_link_;
   
       std::string parent_group_;
   
       std::string component_group_;
     };
   
     struct GroupState
     {
       std::string name_;
   
       std::string group_;
   
       std::map<std::string, std::vector<double>> joint_values_;
     };
   
     struct Sphere
     {
       double center_x_;
       double center_y_;
       double center_z_;
   
       double radius_;
     };
   
     struct LinkSpheres
     {
       std::string link_;
   
       std::vector<Sphere> spheres_;
     };
   
     struct CollisionPair
     {
       std::string link1_;
   
       std::string link2_;
   
       std::string reason_;
     };
   
     // Some joints can be passive (not actuated). This structure specifies information about such joints
     struct PassiveJoint
     {
       std::string name_;
     };
   
     // Some joints may have additional properties.
     struct JointProperty
     {
       std::string joint_name_;
   
       std::string property_name_;
   
       std::string value_;
     };
   
     const std::string& getName() const
     {
       return name_;
     }
   
     const std::vector<std::string>& getNoDefaultCollisionLinks() const
     {
       return no_default_collision_links_;
     }
   
     const std::vector<CollisionPair>& getEnabledCollisionPairs() const
     {
       return enabled_collision_pairs_;
     }
   
     const std::vector<CollisionPair>& getDisabledCollisionPairs() const
     {
       return disabled_collision_pairs_;
     }
   
     const std::vector<Group>& getGroups() const
     {
       return groups_;
     }
   
     const std::vector<VirtualJoint>& getVirtualJoints() const
     {
       return virtual_joints_;
     }
   
     const std::vector<EndEffector>& getEndEffectors() const
     {
       return end_effectors_;
     }
   
     const std::vector<GroupState>& getGroupStates() const
     {
       return group_states_;
     }
   
     const std::vector<PassiveJoint>& getPassiveJoints() const
     {
       return passive_joints_;
     }
   
     const std::vector<LinkSpheres>& getLinkSphereApproximations() const
     {
       return link_sphere_approximations_;
     }
   
     const std::vector<JointProperty>& getJointProperties(const std::string& joint_name) const
     {
       std::map<std::string, std::vector<JointProperty>>::const_iterator iter = joint_properties_.find(joint_name);
       if (iter == joint_properties_.end())
       {
         // We return a standard empty vector here rather than insert a new empty vector
         // into the map in order to keep the method const
         return empty_vector_;
       }
       return iter->second;
     }
   
     const std::map<std::string, std::vector<JointProperty>>& getJointProperties() const
     {
       return joint_properties_;
     }
   
     void clear();
   
   private:
     bool isValidJoint(const urdf::ModelInterface& urdf_model, const std::string& name) const;
   
     void loadVirtualJoints(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
     void loadGroups(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
     void loadGroupStates(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
     void loadEndEffectors(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
     void loadLinkSphereApproximations(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
     void loadCollisionDefaults(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
     void loadCollisionPairs(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml, const char* tag_name,
                             std::vector<CollisionPair>& pairs);
     void loadPassiveJoints(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
     void loadJointProperties(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
   
     std::string name_;
     std::vector<Group> groups_;
     std::vector<GroupState> group_states_;
     std::vector<VirtualJoint> virtual_joints_;
     std::vector<EndEffector> end_effectors_;
     std::vector<LinkSpheres> link_sphere_approximations_;
     std::vector<std::string> no_default_collision_links_;
     std::vector<CollisionPair> enabled_collision_pairs_;
     std::vector<CollisionPair> disabled_collision_pairs_;
     std::vector<PassiveJoint> passive_joints_;
     std::map<std::string, std::vector<JointProperty>> joint_properties_;
   
     // Empty joint property vector
     static const std::vector<JointProperty> empty_vector_;
   };
   typedef std::shared_ptr<Model> ModelSharedPtr;
   typedef std::shared_ptr<const Model> ModelConstSharedPtr;
   }  // namespace srdf
   #endif