robot.h

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#ifndef ED_GUI_SERVER_ROBOT_H_
#define ED_GUI_SERVER_ROBOT_H_
 
#include <ed_gui_server_msgs/Color.h>
#include <ed_gui_server_msgs/EntityInfo.h>
 
#include <ed/types.h>
 
#include <geolib/datatypes.h>
 
#include <memory>
 
struct Visual
{
    geo::ShapeConstPtr shape;
    ed_gui_server_msgs::Color color;
    std::string link;
};
 
namespace gui
{
 
typedef std::map<std::string, Visual> ShapeMap;
 
class Robot
{
 
public:
 
    Robot();
 
    Robot(const ed::TFBufferConstPtr& tf_buffer);
 
    virtual ~Robot();
 
    void initialize(const std::string& name, const std::string& urdf_rosparam, const std::string& tf_prefix);
 
    inline const std::string& name() const { return name_; }
 
    geo::ShapeConstPtr getShape(const std::string& id) const;
 
    bool contains(const std::string& id) const;
 
    void getEntities(std::vector<ed_gui_server_msgs::EntityInfo>& entities) const;
 
private:
 
    std::string name_;
 
    std::string urdf_rosparam_;
 
    std::string tf_prefix_;
 
    ed::TFBufferConstPtr tf_buffer_;
 
    ShapeMap shapes_;
 
};
 
} // end namespace gui
 
#endif