RigidModelProvider.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
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#ifndef _MIRA_RIGIDMODELPROVIDER_H_
#define _MIRA_RIGIDMODELPROVIDER_H_

#include <fw/Framework.h>

#include <model/IRigidModelProvider.h>

namespace mira { namespace model {


template <typename ModelType>
class RigidModelProvider : public virtual IRigidModelProvider
{
public:
    typedef boost::shared_ptr<ModelType> ModelTypePtr;
    
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, IRigidModelProvider);
        r.member("Model", mModel, "The used model");
        r.method("publishJoint", &RigidModelProvider::publishJoint, this,
                 "Publishes state of a joint",
                 "name", "joint name", "DisplayMotorToDisplayArm",
                 "value", "joint value ([rad] for CONTINUOUS/REVOLUTE type, [m] for PRISMATIC)", deg2rad(15.f),
                 "timestamp", "timestamp", Time::now());
    }

    virtual model::RigidModelPtr getRigidModel()
    {
        return mModel;
    }

    void publishJoint(const std::string& name, float value,
                      Time const& t = Time::now())
    {
        if (!mModel)
            MIRA_THROW(XInvalidConfig, "No rigid model loaded");
        mModel->publishJoint(name, value, t);
    }

    void publishTransforms(const std::string& ns,
                           Time const& t = Time::now())
    {
        if (!mModel)
            MIRA_THROW(XInvalidConfig, "No rigid model loaded");
        mModel->resolveAndPublishLinks(ns, t);
    }

protected:

    ModelTypePtr mModel;
};


}}

#endif