/usr/include/fcl/articulated_model/model.h is in libfcl-dev 0.3.2-1.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2011, 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;
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/** \author Dalibor Matura, Jia Pan */
#ifndef FCL_ARTICULATED_MODEL_MODEL_H
#define FCL_ARTICULATED_MODEL_MODEL_H
#include "fcl/articulated_model/joint.h"
#include "fcl/articulated_model/link.h"
#include "fcl/data_types.h"
#include <boost/shared_ptr.hpp>
#include <map>
#include <stdexcept>
namespace fcl
{
class ModelParseError : public std::runtime_error
{
public:
ModelParseError(const std::string& error_msg) : std::runtime_error(error_msg) {}
};
class Model
{
public:
Model() {}
virtual ~Model() {}
const std::string& getName() const;
void addLink(const boost::shared_ptr<Link>& link);
void addJoint(const boost::shared_ptr<Joint>& joint);
void initRoot(const std::map<std::string, std::string>& link_parent_tree);
void initTree(std::map<std::string, std::string>& link_parent_tree);
std::size_t getNumDofs() const;
std::size_t getNumLinks() const;
std::size_t getNumJoints() const;
boost::shared_ptr<Link> getRoot() const;
boost::shared_ptr<Link> getLink(const std::string& name) const;
boost::shared_ptr<Joint> getJoint(const std::string& name) const;
std::vector<boost::shared_ptr<Link> > getLinks() const;
std::vector<boost::shared_ptr<Joint> > getJoints() const;
protected:
boost::shared_ptr<Link> root_link_;
std::map<std::string, boost::shared_ptr<Link> > links_;
std::map<std::string, boost::shared_ptr<Joint> > joints_;
std::string name_;
};
}
#endif
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