kinematics_model_table.hpp

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#pragma once
 
#include <string>
#include <vector>
 
#if defined(__has_include) && (__has_include(<xtensor/containers/xarray.hpp>))
#include <xtensor/containers/xarray.hpp>
#else
#include <xtensor/xarray.hpp>
#endif
 
#include <viam/sdk/common/kinematics.hpp>
#include <viam/sdk/common/linear_algebra.hpp>
 
namespace viam {
namespace sdk {
 
class ModelTable {
   public:
    enum class JointType {
        k_revolute = 0,
        k_continuous = 1,
        k_prismatic = 2,
        k_fixed = 3,
    };
 
    struct JointRow {
        std::string name;
        Vector3 xyz{};
        Vector3 rpy{};
        Vector3 axis{};
        JointType type = JointType::k_fixed;
    };
 
    explicit ModelTable(std::vector<JointRow> rows);
 
    static ModelTable from(const KinematicsDataURDF& urdf);
 
    static ModelTable from(const xt::xarray<double>& tensor);
 
    xt::xarray<double> to_tensor() const;
 
    const std::vector<JointRow>& rows() const;
 
   private:
    std::vector<JointRow> rows_;
};
 
}  // namespace sdk
}  // namespace viam