text: /*********************************************************************
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2012, Willow Garage, Inc.
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions
   *  are met:
   *
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of Willow Garage, Inc. nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *  POSSIBILITY OF SUCH DAMAGE.
   *********************************************************************/
  
  /* Author: Ioan Sucan */
  
  #pragma once
  
  #include <moveit/robot_model/link_model.h>
  #include <moveit/transforms/transforms.h>
  #include <geometric_shapes/check_isometry.h>
  #include <eigen_stl_containers/eigen_stl_containers.h>
  #include <boost/function.hpp>
  #include <trajectory_msgs/msg/joint_trajectory.hpp>
  #include <set>
  
  namespace moveit
  {
  namespace core
  {
  class AttachedBody;
  typedef boost::function<void(AttachedBody* body, bool attached)> AttachedBodyCallback;
  
  /** @brief Object defining bodies that can be attached to robot links.
   *
   * This is useful when handling objects picked up by the robot. */
  class AttachedBody
  {
  public:
    /** \brief Construct an attached body for a specified \e link.
     *
     * The name of this body is \e id and it consists of \e shapes that attach to the link by the transforms
     * \e shape_poses. The set of links that are allowed to be touched by this object is specified by \e touch_links.
     * detach_posture may describe a detach motion for the gripper when placing the object.
     * The shape and subframe poses are relative to the \e pose, and \e pose is relative to the parent link. */
    AttachedBody(const LinkModel* parent, const std::string& id, const Eigen::Isometry3d& pose,
                 const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Isometry3d& shape_poses,
                 const std::set<std::string>& touch_links, const trajectory_msgs::msg::JointTrajectory& detach_posture,
                 const moveit::core::FixedTransformsMap& subframe_poses = moveit::core::FixedTransformsMap());
  
    ~AttachedBody();
  
    /** \brief Get the name of the attached body */
    const std::string& getName() const
    {
      return id_;
    }
  
    /** \brief Get the pose of the attached body relative to the parent link */
    const Eigen::Isometry3d& getPose() const
    {
      return pose_;
    }
  
    /** \brief Get the pose of the attached body, relative to the world */
    const Eigen::Isometry3d& getGlobalPose() const
    {
      return global_pose_;
    }
  
    /** \brief Get the name of the link this body is attached to */
    const std::string& getAttachedLinkName() const
    {
      return parent_link_model_->getName();
    }
  
    /** \brief Get the model of the link this body is attached to */
    const LinkModel* getAttachedLink() const
    {
      return parent_link_model_;
    }
  
    /** \brief Get the shapes that make up this attached body */
    const std::vector<shapes::ShapeConstPtr>& getShapes() const
    {
      return shapes_;
    }
  
    /** \brief Get the shape poses (the transforms to the shapes of this body, relative to the pose). The returned
     *  transforms are guaranteed to be valid isometries. */
    const EigenSTL::vector_Isometry3d& getShapePoses() const
    {
      return shape_poses_;
    }
  
    /** \brief Get the links that the attached body is allowed to touch */
    const std::set<std::string>& getTouchLinks() const
    {
      return touch_links_;
    }
  
    /** \brief Return the posture that is necessary for the object to be released, (if any). This is useful for example
       when storing the configuration of a gripper holding an object */
    const trajectory_msgs::msg::JointTrajectory& getDetachPosture() const
    {
      return detach_posture_;
    }
  
    /** \brief Get the fixed transforms (the transforms to the shapes of this body, relative to the link). The returned
     *  transforms are guaranteed to be valid isometries. */
    const EigenSTL::vector_Isometry3d& getShapePosesInLinkFrame() const
    {
      return shape_poses_in_link_frame_;
    }
  
    /** \brief Get the fixed transforms (the transforms to the shapes of this body, relative to the link). The returned
     *  transforms are guaranteed to be valid isometries.
     * Deprecated. Use getShapePosesInLinkFrame instead. */
    [[deprecated]] const EigenSTL::vector_Isometry3d& getFixedTransforms() const
    {
      return shape_poses_in_link_frame_;
    }
  
    /** \brief Get subframes of this object (relative to the object pose). The returned transforms are guaranteed to be
     * valid isometries. */
    const moveit::core::FixedTransformsMap& getSubframes() const
    {
      return subframe_poses_;
    }
  
    /** \brief Get subframes of this object (in the world frame) */
    const moveit::core::FixedTransformsMap& getGlobalSubframeTransforms() const
    {
      return global_subframe_poses_;
    }
  
    /** \brief Set all subframes of this object.
     *
     * Use these to define points of interest on the object to plan with
     * (e.g. screwdriver/tip, kettle/spout, mug/base).
     */
    void setSubframeTransforms(const moveit::core::FixedTransformsMap& subframe_poses)
    {
      for (const auto& t : subframe_poses)
      {
        ASSERT_ISOMETRY(t.second)  // unsanitized input, could contain a non-isometry
      }
      subframe_poses_ = subframe_poses;
    }
  
    /** \brief Get the fixed transform to a named subframe on this body (relative to the body's pose)
     *
     * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
     * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false).
     * The returned transform is guaranteed to be a valid isometry. */
    const Eigen::Isometry3d& getSubframeTransform(const std::string& frame_name, bool* found = nullptr) const;
  
    /** \brief Get the fixed transform to a named subframe on this body (relative to the robot link)
     *
     * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
     * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false).
     * The returned transform is guaranteed to be a valid isometry. */
    const Eigen::Isometry3d& getSubframeTransformInLinkFrame(const std::string& frame_name, bool* found = nullptr) const;
  
    /** \brief Get the fixed transform to a named subframe on this body, relative to the world frame.
     * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
     * name is "screwdriver"). Returns an identity transform if frame_name is unknown (and set found to false).
     * The returned transform is guaranteed to be a valid isometry. */
    const Eigen::Isometry3d& getGlobalSubframeTransform(const std::string& frame_name, bool* found = nullptr) const;
  
    /** \brief Check whether a subframe of given @frame_name is present in this object.
     *
     * The frame_name needs to have the object's name prepended (e.g. "screwdriver/tip" returns true if the object's
     * name is "screwdriver"). */
    bool hasSubframeTransform(const std::string& frame_name) const;
  
    /** \brief Get the global transforms (in world frame) for the collision bodies. The returned transforms are
     *  guaranteed to be valid isometries. */
    const EigenSTL::vector_Isometry3d& getGlobalCollisionBodyTransforms() const
    {
      return global_collision_body_transforms_;
    }
  
    /** \brief Set the padding for the shapes of this attached object */
    void setPadding(double padding);
  
    /** \brief Set the scale for the shapes of this attached object */
    void setScale(double scale);
  
    /** \brief Recompute global_collision_body_transform given the transform of the parent link */
    void computeTransform(const Eigen::Isometry3d& parent_link_global_transform);
  
  private:
    /** \brief The link that owns this attached body */
    const LinkModel* parent_link_model_;
  
    /** \brief string id for reference */
    std::string id_;
  
    /** \brief The transform from the parent link to the attached body's pose*/
    Eigen::Isometry3d pose_;
  
    /** \brief The transform from the model frame to the attached body's pose  */
    Eigen::Isometry3d global_pose_;
  
    /** \brief The geometries of the attached body */
    std::vector<shapes::ShapeConstPtr> shapes_;
  
    /** \brief The transforms from the object's pose to the object's geometries*/
    EigenSTL::vector_Isometry3d shape_poses_;
  
    /** \brief The transforms from the link to the object's geometries*/
    EigenSTL::vector_Isometry3d shape_poses_in_link_frame_;
  
    /** \brief The global transforms for the attached bodies (computed by forward kinematics) */
    EigenSTL::vector_Isometry3d global_collision_body_transforms_;
  
    /** \brief The set of links this body is allowed to touch */
    std::set<std::string> touch_links_;
  
    /** \brief Posture of links for releasing the object (if any). This is useful for example when storing
        the configuration of a gripper holding an object */
    trajectory_msgs::msg::JointTrajectory detach_posture_;
  
    /** \brief Transforms to subframes on the object, relative to the object's pose. */
    moveit::core::FixedTransformsMap subframe_poses_;
  
    /** \brief Transforms to subframes on the object, relative to the model frame. */
    moveit::core::FixedTransformsMap global_subframe_poses_;
  };
  }  // namespace core
  }  // namespace moveit
  