SmoresModule.hh

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Author: Edward Yunkai Cui
// Description: This class is built for configuration representation.
//              This class combines with 'SmoresEdge' and 'SmoresNode'
//              can represent very complicated graph structure.
//              A module has four nodes, and there geometry relations
//              are predetermined. This class provides some utility
//              functions to access the nodes and edges in the configuration
//              easily.
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef _GAZEBO_SMORES_MODULE_HH_
#define _GAZEBO_SMORES_MODULE_HH_
#include <string>
#include <iostream>

#include "SmoresEdge.hh"
#include "SmoresNode.hh"
#include "CommandManagement.hh"

namespace gazebo{
typedef boost::shared_ptr<ModuleCommands> ModuleCommandsPtr;

class SmoresModule
{
 public:

  SmoresModule(string mID, bool mtype, physics::ModelPtr modulePtr, 
      transport::PublisherPtr publisher, transport::SubscriberPtr subsciber, 
      unsigned int num_ID);

  SmoresModule(string mID, bool mtype, physics::ModelPtr modulePtr, 
      transport::PublisherPtr publisher, transport::SubscriberPtr subsciber);

  SmoresModule(string mID, bool mtype, transport::PublisherPtr publisher, 
      transport::SubscriberPtr subsciber, unsigned int num_ID);
  ~SmoresModule();

  void ManuallyNodeInitial(SmoresModulePtr module_ptr);

  SmoresNodePtr GetNode(int node_id);

  int GetNodeAxis(int node_id);

  void SetModulePtr(physics::ModelPtr modelPtr);

  physics::LinkPtr GetLinkPtr(int node_id);
  string ModuleID;
  unsigned int ModuleNumID;
  bool ModuleType;
  physics::ModelPtr ModuleObject;
  transport::PublisherPtr ModulePublisher;
  transport::SubscriberPtr ModuleSubscriber;
  ModuleCommandsPtr moduleCommandContainer;
  // TODO: Need to add geometry information
  math::Pose ModulePosition;
  SmoresNode NodeUH;  // The U-shape part
  SmoresNode NodeFW;  // The Front Wheel
  SmoresNode NodeLW;
  SmoresNode NodeRW;
  SmoresNodePtr NodeUHPtr;
  SmoresNodePtr NodeFWPtr;
  SmoresNodePtr NodeLWPtr;
  SmoresNodePtr NodeRWPtr;
}; // class SmoresModule
} // namespace gazebo
#endif