SdfSerialManipulatorLoader.h

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#pragma once
 
#include <string>
#include <vector>
 
#include <Eigen/Dense>
 
#include <gz/math/Pose3.hh>
#include <sdf/Model.hh>
#include <sdf/World.hh>
 
#include <dqrobotics/DQ.h>
 
#include <marinholab/sas/core/modeling/serial_manipulator_simulator_friendly.hpp>
 
namespace sas_robot_driver_gazebo
{

struct SdfManipulatorResult
{
    marinholab::sas::core::modeling::SerialManipulatorSimulatorFriendly model;

    std::vector<std::string> joint_names;

    std::vector<std::string> link_names;

    std::vector<std::string> actuation_type_names;

    std::vector<DQ_robotics::DQ> offsets_before;

    std::vector<DQ_robotics::DQ> offsets_after;

    Eigen::VectorXd lower_limits;

    Eigen::VectorXd upper_limits;

    std::string source_path;

    std::string source_scope;
};

class SdfSerialManipulatorLoader
{
public:
    SdfManipulatorResult LoadFromFile(
      const std::string &path,
      const std::string &model_scope = std::string()) const;

    SdfManipulatorResult LoadFromSdfFile(const std::string &path) const;

    SdfManipulatorResult LoadFromModel(const sdf::Model *model) const;
};
 
}  // namespace sas_robot_driver_gazebo