WholeBodySingleton.h

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/*
 * Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * GNU Lesser General Public License v2.1 or any later version.
 */
 
#ifndef WBT_WHOLEBODYSINGLETON_H
#define WBT_WHOLEBODYSINGLETON_H
 
#include <memory>
#include <string>
#include <unordered_map>
 
namespace wbt {
    namespace base {
        class WholeBodySingleton;
        class RobotInterface;
        class Configuration;
    } // namespace base
} // namespace wbt
 
namespace blockfactory {
    namespace core {
        class Parameters;
    } // namespace core
} // namespace blockfactory
 
namespace iDynTree {
    class KinDynComputations;
}
 
class wbt::base::WholeBodySingleton
{
private:
    std::unordered_map<std::string, std::weak_ptr<wbt::base::RobotInterface>> m_interfaces;
 
public:
    // CONSTRUCTOR / DESTRUCTOR
    // ========================
 
    WholeBodySingleton();
    ~WholeBodySingleton();
 
    WholeBodySingleton(const WholeBodySingleton&) = delete;
    WholeBodySingleton& operator=(const WholeBodySingleton&) = delete;
 
    // UTILITIES
    // =========
 
    bool isKeyValid(const std::string& confKey) const;
 
    int numberOfDoFs(const std::string& confKey) const;
 
    // GET METHODS
    // ===========
 
    static wbt::base::WholeBodySingleton& sharedInstance();
 
    const Configuration& getConfiguration(const std::string& confKey) const;
 
    const std::shared_ptr<RobotInterface> getRobotInterface(const std::string& confKey) const;
 
    const std::shared_ptr<iDynTree::KinDynComputations>
    getKinDynComputations(const std::string& confKey) const;
 
    // WHOLEBODYSINGLETON CONFIGURATION
    // ================================
 
    std::shared_ptr<RobotInterface> createRobotInterface(const Configuration& config);
 
    std::shared_ptr<RobotInterface>
    storeConfiguration(const blockfactory::core::Parameters& parameters);
 
    void eraseConfiguration(const std::string& confKey);
};
 
#endif // WBT_WHOLEBODYSINGLETON_H