Configuration.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_TOOLBOXCONFIG_H
#define WBT_TOOLBOXCONFIG_H
 
#include <array>
#include <memory>
#include <string>
#include <vector>
 
namespace wbt {
    namespace base {
        class Configuration;
    } // namespace base
} // namespace wbt
 
class wbt::base::Configuration
{
private:
    class impl;
    std::unique_ptr<impl> pImpl;
 
public:
    Configuration(const std::string& confKey = {});
    Configuration(const Configuration& conf);
    ~Configuration();
 
    // ===========
    // SET METHODS
    // ===========
 
    void setParameters(const std::string& robotName,
                       const std::string& urdfFile,
                       const std::vector<std::string>& controlledJoints,
                       const std::vector<std::string>& controlBoardsNames,
                       const std::string& localName,
                       const std::array<double, 3>& gravityVector);
 
    void setRobotName(const std::string& robotName);
 
    void setUrdfFile(const std::string& urdfFile);
 
    void setControlledJoints(const std::vector<std::string>& controlledJoints);
 
    void setControlBoardsNames(const std::vector<std::string>& controlBoardsNames);
 
    void setLocalName(const std::string& localName);
 
    void setGravityVector(const std::array<double, 3>& gravityVector);
 
    // ===========
    // GET METHODS
    // ===========
 
    const std::string& getRobotName() const;
 
    const std::string& getUrdfFile() const;
 
    const std::vector<std::string>& getControlledJoints() const;
 
    const std::vector<std::string>& getControlBoardsNames() const;
 
    const std::string& getLocalName() const;
 
    const std::string getUniqueId() const;
 
    const std::array<double, 3>& getGravityVector() const;
 
    const size_t& getNumberOfDoFs() const;
 
    const std::string getConfKey() const;
 
    // =============
    // OTHER METHODS
    // =============
 
    bool isValid() const;
 
    // =====================
    // OPERATORS OVERLOADING
    // =====================
 
    bool operator==(const Configuration& config) const;
};
 
#endif // WBT_TOOLBOXCONFIG_H