robot_presets.hpp

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#ifndef ROBOT_ENV_EVALUATOR_ROBOT_PRESETS_HPP
#define ROBOT_ENV_EVALUATOR_ROBOT_PRESETS_HPP
 
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/geometry.hpp>
 
#include <vector>
#include <string>
 
namespace robot_env_evaluator{
    class RobotPresetInterface{
    public:
        RobotPresetInterface() = default;
        virtual ~RobotPresetInterface() = default;
        
        virtual void getPresetRobot(pinocchio::Model& model, 
                                    std::string& ee_name,
                                    std::vector<std::string>& joint_names,
                                    pinocchio::GeometryModel& collision_model) = 0;
 
        virtual bool isFrankaRobot() const { return false; } 
    };
 
    class FrankaEmikaPreset : public RobotPresetInterface{
    public:
        FrankaEmikaPreset() = default;
        ~FrankaEmikaPreset() = default;
 
        void getPresetRobot(pinocchio::Model& model, 
                            std::string& ee_name,
                            std::vector<std::string>& joint_names,
                            pinocchio::GeometryModel& collision_model) override;
 
        bool isFrankaRobot() const override { return true; } 
    };
 
    class FrankaEmikaNoHandPreset : public RobotPresetInterface{
    public:
        FrankaEmikaNoHandPreset() = default;
        ~FrankaEmikaNoHandPreset() = default;
 
        void getPresetRobot(pinocchio::Model& model, 
                            std::string& ee_name,
                            std::vector<std::string>& joint_names,
                            pinocchio::GeometryModel& collision_model) override;
 
        bool isFrankaRobot() const override { return true; } 
    };
 
    class RobotPresetFactory{
        public:
            static std::unique_ptr<RobotPresetInterface> createRobotPreset(const std::string& robot_name);
    };
}
 
#endif // ROBOT_ENV_EVALUATOR_ROBOT_PRESETS_HPP