Add RobotNameHelper::{Arm,RobotArm}::getPalmCollisionModel

source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp

@@ -240,6 +240,12 @@ namespace armarx
         return select("HandModelPackage");
     }
 
+    std::string RobotNameHelper::Arm::getPalmCollisionModel() const
+    {
+        ARMARX_TRACE;
+        return select("PalmCollisionModel");
+    }
+
     RobotNameHelper::RobotArm RobotNameHelper::Arm::addRobot(const VirtualRobot::RobotPtr& robot) const
     {
         ARMARX_TRACE;
@@ -285,6 +291,13 @@ namespace armarx
         return robot->getRobotNode(arm.getTCP());
     }
 
+    VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getPalmCollisionModel() const
+    {
+        ARMARX_TRACE;
+        ARMARX_CHECK_NOT_NULL(robot);
+        return robot->getRobotNode(arm.getPalmCollisionModel());
+    }
+
     VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getHandRootNode() const
     {
         ARMARX_TRACE;

source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h

@@ -76,6 +76,7 @@ namespace armarx
             std::string getHandModelPath() const;
             std::string getAbsoluteHandModelPath() const;
             std::string getHandModelPackage() const;
+            std::string getPalmCollisionModel() const;
             RobotArm addRobot(const VirtualRobot::RobotPtr& robot) const;
 
             Arm(const std::shared_ptr<const RobotNameHelper>& rnh, const std::string& side);
@@ -104,6 +105,7 @@ namespace armarx
             VirtualRobot::RobotNodeSetPtr getTorsoKinematicChain() const;
             VirtualRobot::RobotNodePtr getTCP() const;
             VirtualRobot::RobotNodePtr getHandRootNode() const;
+            VirtualRobot::RobotNodePtr getPalmCollisionModel() const;
             Eigen::Matrix4f getTcp2HandRootTransform() const;
             const Arm& getArm() const;
             const VirtualRobot::RobotPtr& getRobot() const;