scenemanager.h

#ifndef SCENEMANAGER_H
#define SCENEMANAGER_H

#include <string>
#include <set>
#include <vector>
#include <Eigen/Geometry>
#include <ros/ros.h>
#include <geometry_msgs/Pose.h>

class Project;
namespace move3d
{
class HumanMgr;

class SceneManager
{
public:
    SceneManager(ros::NodeHandle *nh);
    SceneManager(ros::NodeHandle *nh,const std::string &p3d_path);

    ~SceneManager();

    bool addModule(const std::string &name);

    bool createScene();

    bool updateRobotPose(const std::string &name, const geometry_msgs::Pose &base_pose);
    bool updateRobot(const std::string &name, const geometry_msgs::Pose &base_pose, const std::vector<double> &dof_values);
    bool updateRobotM3d(const std::string &name, std::vector<double> &dof_values);
    bool updateObject(const std::string &name, const geometry_msgs::Pose &pose);

    bool updateHuman(const std::string &name, const geometry_msgs::Pose &base_pose, const std::map<std::string,geometry_msgs::Pose> &joints);

    void setDofCorresp(const std::string &robot_name, const std::map<std::string,std::string> &ros_to_move3d_map);
    bool setDofNameOrdered(const std::string &robot_name,const std::vector<std::string> &dof_names);

    bool fetchDofCorrespParam(const std::string &param_name, const std::string &robot_name);
    bool fetchDofCorrespParam(const std::string &base_param_name);

    bool convertConfRosToM3d(const std::string &robot_name, const std::vector<double> &ros_conf, std::vector<double> &m3d_conf);

    std::string p3dPath() const;
    void setP3dPath(const std::string &p3dPath);

    std::string scePath() const;
    void setScePath(const std::string &scePath);

    bool saveScenario(const std::string &path);


    Eigen::Affine3d getFrameTransform() const;
    void setFrameTransform(const Eigen::Affine3d &frame_change);

    bool updateAcceptBaseOnly() const;
    void setUpdateAcceptBaseOnly(bool updateAcceptBaseOnly);

    //getter / setters

    Project *project() const;
    void setProject(Project *project);

    ros::NodeHandle *nh() const;
    void setNh(ros::NodeHandle *nh);

    typedef std::map<std::string,std::string> NameMap_t;
    typedef std::map<uint,uint> UintMap_t;
    typedef  std::map<std::string,NameMap_t> JointCorrespName_t;
    typedef std::map<std::string,UintMap_t> JointCorrespIndex_t;


private:
    void preInit();
    ros::NodeHandle *_nh;
    std::string _p3dPath;
    std::string _scePath;

    std::set<std::string> _modules_to_activ;

    Project *_project;

    JointCorrespName_t _jointCorrespNames;
    JointCorrespIndex_t _jointCorrespIndex;

    HumanMgr *_humanMgr;

    Eigen::Affine3d _frame_transform;

    bool _updateAcceptBaseOnly;

};

}
#endif // SCENEMANAGER_H