jointperspective.h

// Class to load joint perspective from yaml
// Author: Dmytro Pavlichenko <dm.mark999@gmail.com>

#ifndef JOINT_PERSPECTIVE_H
#define JOINT_PERSPECTIVE_H

#include <vector>
#include <string>
#include <yaml-cpp/yaml.h>

#include <trajectory_editor/spaces/basicsmallview.h>

namespace joint_perspective
{
    
struct Joint
{
    std::string joint_name;  // The actual name of a joint
    std::string visual_name; // The name you see in GUI
    
    BasicSmallView::Alignment alignment;
    BasicSmallView::Type      type;
    
    bool mirror_on_shift;
    bool spacer;
};

class JointPerspective
{
public:
    JointPerspective();
    ~JointPerspective();
    
    bool load(std::string path_to_file);
    bool correspondsTo(std::vector<std::string> &joint_list);
    
public:
    std::string m_name;
    std::string m_model;
    std::string m_robot_name;
    
    bool m_joint_space_allowed;
    bool m_pid_space_allowed;
    bool m_abstract_space_allowed;
    bool m_inverse_space_allowed;
    
    std::vector<Joint> m_joints;
    
private:
    void nodeToPerspective(const YAML::Node& node);
};


// Wrapper around vector of perspectives
// TODO move to separate file?
class PerspectiveManager
{
public:
    PerspectiveManager();
    ~PerspectiveManager();
    
    bool isNewPerspective(std::vector<std::string> &joint_list, bool &ok);
    
    JointPerspective& getCurrentPerspective();
    const std::vector<JointPerspective>& getPerspectives();
    
private:
    std::vector<JointPerspective> m_perspectives;
    JointPerspective m_current_perspective;
};

}

#endif