MetaSkeletonStateSaver.hpp

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#ifndef AIKIDO_STATESPACE_DART_METASKELETONSTATESAVER_HPP_
#define AIKIDO_STATESPACE_DART_METASKELETONSTATESAVER_HPP_
 
#include <dart/dynamics/MetaSkeleton.hpp>
 
namespace aikido {
namespace statespace {
namespace dart {
 
class MetaSkeletonStateSaver
{
public:
  enum Options
  {
    POSITIONS = 1 << 0,
    POSITION_LIMITS = 1 << 1,
  };
 
  explicit MetaSkeletonStateSaver(
      ::dart::dynamics::MetaSkeletonPtr metaskeleton,
      int options = POSITIONS | POSITION_LIMITS);
 
  virtual ~MetaSkeletonStateSaver();
 
  // MetaSkeletonStateSaver is uncopyable, must use std::move
  MetaSkeletonStateSaver(const MetaSkeletonStateSaver&) = delete;
  MetaSkeletonStateSaver& operator=(const MetaSkeletonStateSaver&) = delete;
 
  MetaSkeletonStateSaver(MetaSkeletonStateSaver&&) = default;
  MetaSkeletonStateSaver& operator=(MetaSkeletonStateSaver&&) = default;
 
private:
  ::dart::dynamics::MetaSkeletonPtr mMetaSkeleton;
 
  int mOptions;
 
  Eigen::VectorXd mPositions;
 
  Eigen::VectorXd mPositionLowerLimits;
 
  Eigen::VectorXd mPositionUpperLimits;
};
 
} // namespace dart
} // namespace statespace
} // namespace aikido
 
#endif // ifndef AIKIDO_STATESPACE_DART_METASKELETONSTATESAVER_HPP_