Add RobotNameHelper::[Robot]Arm::getFullHandCollisionModel

source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp

@@ -29,6 +29,8 @@
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 #include <ArmarXCore/statechart/xmlstates/profiles/StatechartProfiles.h>
 #include <ArmarXCore/util/CPPUtility/trace.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.cpp>
+
 
 #include <Eigen/Dense>
 
@@ -246,6 +248,12 @@ namespace armarx
         return select("PalmCollisionModel");
     }
 
+    std::string RobotNameHelper::Arm::getFullHandCollisionModel() const
+    {
+        ARMARX_TRACE;
+        return select("FullHandCollisionModel");
+    }
+
     RobotNameHelper::RobotArm RobotNameHelper::Arm::addRobot(const VirtualRobot::RobotPtr& robot) const
     {
         ARMARX_TRACE;
@@ -298,6 +306,14 @@ namespace armarx
         return robot->getRobotNode(arm.getPalmCollisionModel());
     }
 
+    VirtualRobot::TriMeshModelPtr RobotNameHelper::RobotArm::getFullHandCollisionModel() const
+    {
+        ARMARX_TRACE;
+        std::string abs;
+        ARMARX_CHECK_EXPRESSION(ArmarXDataPath::SearchReadableFile(arm.getFullHandCollisionModel(), abs));
+        return  VirtualRobot::TriMeshModel::FromFile(abs);
+    }
+
     VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getHandRootNode() const
     {
         ARMARX_TRACE;

source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h

@@ -26,6 +26,7 @@
 #include <RobotAPI/interface/core/RobotState.h>
 
 #include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Visualization/TriMeshModel.h>
 
 namespace armarx
 {
@@ -77,6 +78,7 @@ namespace armarx
             std::string getAbsoluteHandModelPath() const;
             std::string getHandModelPackage() const;
             std::string getPalmCollisionModel() const;
+            std::string getFullHandCollisionModel() const;
             RobotArm addRobot(const VirtualRobot::RobotPtr& robot) const;
 
             Arm(const std::shared_ptr<const RobotNameHelper>& rnh, const std::string& side);
@@ -106,6 +108,7 @@ namespace armarx
             VirtualRobot::RobotNodePtr getTCP() const;
             VirtualRobot::RobotNodePtr getHandRootNode() const;
             VirtualRobot::RobotNodePtr getPalmCollisionModel() const;
+            VirtualRobot::TriMeshModelPtr getFullHandCollisionModel() const;
             Eigen::Matrix4f getTcp2HandRootTransform() const;
             const Arm& getArm() const;
             const VirtualRobot::RobotPtr& getRobot() const;