CanonicalLinkModelTracker.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_SIM_SYSTEMS_PHYSICS_CANONICAL_LINK_MODEL_TRACKER_HH_
#define GZ_SIM_SYSTEMS_PHYSICS_CANONICAL_LINK_MODEL_TRACKER_HH_
 
#include <set>
#include <unordered_map>
 
#include "gz/sim/Entity.hh"
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/components/CanonicalLink.hh"
#include "gz/sim/components/Model.hh"
#include "gz/sim/config.hh"
 
namespace gz::sim
{
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems::physics_system
{
  class CanonicalLinkModelTracker
  {
    public: void AddNewModels(const EntityComponentManager &_ecm);
 
    public: void AddAllModels(const EntityComponentManager &_ecm);
 
    public: const std::set<Entity> &CanonicalLinkModels(
                const Entity _canonicalLink) const;
 
    public: void RemoveLink(const Entity &_link);
 
    private: std::unordered_map<Entity, std::set<Entity>> linkModelMap;
 
    private: static inline const std::set<Entity> kEmptyModelOrdering{};
  };
 
  void CanonicalLinkModelTracker::AddNewModels(
      const EntityComponentManager &_ecm)
  {
    _ecm.EachNew<components::Model, components::ModelCanonicalLink>(
        [this](const Entity &_model, const components::Model *,
          const components::ModelCanonicalLink *_canonicalLinkComp)
        {
          this->linkModelMap[_canonicalLinkComp->Data()].insert(_model);
          return true;
        });
  }
  void CanonicalLinkModelTracker::AddAllModels(
      const EntityComponentManager &_ecm)
  {
    _ecm.Each<components::Model, components::ModelCanonicalLink>(
        [this](const Entity &_model, const components::Model *,
          const components::ModelCanonicalLink *_canonicalLinkComp)
        {
          this->linkModelMap[_canonicalLinkComp->Data()].insert(_model);
          return true;
        });
  }
 
  const std::set<Entity> &CanonicalLinkModelTracker::CanonicalLinkModels(
      const Entity _canonicalLink) const
  {
    auto it = this->linkModelMap.find(_canonicalLink);
    if (it != this->linkModelMap.end())
      return it->second;
 
    // if an invalid entity was given, it maps to no models
    return this->kEmptyModelOrdering;
  }
 
  void CanonicalLinkModelTracker::RemoveLink(const Entity &_link)
  {
    this->linkModelMap.erase(_link);
  }
}
}
}
 
#endif