model.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   model.h
 * @brief  Defines flatland Model
 * @author Chunshang Li
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
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#ifndef FLATLAND_SERVER_MODEL_H
#define FLATLAND_SERVER_MODEL_H

#include <flatland_server/collision_filter_registry.h>
#include <flatland_server/entity.h>
#include <flatland_server/joint.h>
#include <flatland_server/model_body.h>
#include <flatland_server/yaml_reader.h>
#include <yaml-cpp/yaml.h>
#include <boost/filesystem.hpp>

namespace flatland_server {

class ModelBody;
class Joint;

class Model : public Entity {
 public:
  std::string namespace_;            
  std::vector<ModelBody *> bodies_;  
  std::vector<Joint *> joints_;      
  YamlReader plugins_reader_;        
  CollisionFilterRegistry *cfr_;     
  std::string viz_name_;             

  Model(b2World *physics_world, CollisionFilterRegistry *cfr,
        const std::string &ns, const std::string &name);

  ~Model();

  EntityType Type() const { return EntityType::MODEL; }

  void LoadBodies(YamlReader &bodies_reader);

  void LoadJoints(YamlReader &joints_reader);

  ModelBody *GetBody(const std::string &name);

  Joint *GetJoint(const std::string &name);

  const std::vector<ModelBody *> &GetBodies();

  const std::vector<Joint *> &GetJoints();

  const std::string &GetNameSpace() const;

  std::string NameSpaceTF(const std::string &frame_id) const;

  std::string NameSpaceTopic(const std::string &topic) const;

  const std::string &GetName() const;

  const CollisionFilterRegistry *GetCfr() const;

  void DebugVisualize() const override;

  void DebugOutput() const override;

  void DumpBox2D() const;

  void TransformAll(const Pose &pose_delta);

  void SetPose(const Pose &pose);

  static Model *MakeModel(b2World *physics_world, CollisionFilterRegistry *cfr,
                          const std::string &model_yaml_path,
                          const std::string &ns, const std::string &name);
};
};      // namespace flatland_server
#endif  // FLATLAND_SERVER_MODEL_H