From 03fb1aeb554e18c84d72c9d426084e7b1b5d0fd1 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 19 Aug 2020 09:16:07 +0200
Subject: [PATCH] Add RobotNameHelper::{Arm,RobotArm}::getPalmCollisionModel
---
.../RobotStatechartHelpers/RobotNameHelper.cpp | 13 +++++++++++++
.../RobotStatechartHelpers/RobotNameHelper.h | 2 ++
2 files changed, 15 insertions(+)
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index 147755199..349eca66f 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/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;
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index 0a4fdd59a..b4db8b858 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/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;
--
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