Add ToolPath and ToolPathSegment class

Author: Levi-Armstrong

.github/workflows/windows_2019.yml

@@ -49,7 +49,7 @@ jobs:
         set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release
         vcs import --input "${{ github.workspace }}/workspace/src/tesseract/dependencies.rosinstall" src/
         if %ERRORLEVEL% GEQ 1 exit 1
-        colcon build --event-handlers console_direct+ --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON
+        colcon build --event-handlers console_direct+ --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON -DBOOST_UUID_FORCE_AUTO_LINK=ON
         if %ERRORLEVEL% GEQ 1 exit 1
 
     - name: run-test

tesseract_common/CMakeLists.txt

@@ -53,6 +53,8 @@ add_library(
   src/eigen_serialization.cpp
   src/utils.cpp
   src/resource_locator.cpp
+  src/tool_path.cpp
+  src/tool_path_segment.cpp
   src/types.cpp)
 target_link_libraries(
   ${PROJECT_NAME}

tesseract_common/include/tesseract_common/tool_path.h

@@ -0,0 +1,254 @@
+/**
+ * @file tool_path.h
+ * @brief Common Tesseract Tool Path
+ *
+ * @author Levi Armstrong
+ * @date Nov 16, 2022
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2022, Levi Armstrong
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * 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
+ * @par
+ * 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 TESSERACT_COMMON_TOOL_PATH_H
+#define TESSERACT_COMMON_TOOL_PATH_H
+
+#include <string>
+#include <boost/uuid/uuid.hpp>
+#include <tesseract_common/tool_path_segment.h>
+#include <tesseract_common/serialization.h>
+
+namespace tesseract_common
+{
+class ToolPath
+{
+public:
+  // LCOV_EXCL_START
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  // LCOV_EXCL_STOP
+
+  ToolPath(std::string description = "");
+  ToolPath(boost::uuids::uuid uuid, std::string description = "");
+  virtual ~ToolPath() = default;
+
+  /** @brief Get the uuid */
+  boost::uuids::uuid getUUID() const;
+
+  /** @brief Regenerate uuid */
+  void regenerateUUID();
+
+  /**
+   * @brief Get the parent uuid
+   * @details This can be null
+   */
+  const boost::uuids::uuid& getParentUUID() const;
+
+  /**
+   * @brief Set the parent uuid
+   * @details This can be used in cases were a segment is split during a filter process and want tracability.
+   * @param uuid
+   */
+  void setParentUUID(const boost::uuids::uuid& uuid);
+
+  /** @brief Set the tool path description */
+  void setDescription(const std::string& desc);
+
+  /** @brief Get the tool path description */
+  const std::string& getDescription() const;
+
+  /**
+   * @brief Set a namespace for the tool path
+   * @details This can be multiple namespace by separating by '::' for example 'main::left::place'
+   * which will have it show up in the widget as a teared item in the tree view.
+   * @param ns A namespace the tool path is associated with
+   */
+  void setNamespace(std::string ns);
+
+  /**
+   * @brief Get the namespace for the tool path
+   * @return The namespace
+   */
+  const std::string& getNamespace() const;
+
+  bool operator==(const ToolPath& rhs) const;
+  bool operator!=(const ToolPath& rhs) const;
+
+  // LCOV_EXCL_START
+
+  ///////////////////////////
+  // C++ container support //
+  ///////////////////////////
+  /** pointer */
+  using pointer = typename AlignedVector<ToolPathSegment>::pointer;
+  /** const_pointer */
+  using const_pointer = typename AlignedVector<ToolPathSegment>::const_pointer;
+  /** reference */
+  using reference = typename AlignedVector<ToolPathSegment>::reference;
+  /** const_reference */
+  using const_reference = typename AlignedVector<ToolPathSegment>::const_reference;
+  /** size_type */
+  using size_type = typename AlignedVector<ToolPathSegment>::size_type;
+  /** difference_type */
+  using difference_type = typename AlignedVector<ToolPathSegment>::difference_type;
+  /** iterator */
+  using iterator = typename AlignedVector<ToolPathSegment>::iterator;
+  /** const_iterator */
+  using const_iterator = typename AlignedVector<ToolPathSegment>::const_iterator;
+  /** reverse_iterator */
+  using reverse_iterator = typename AlignedVector<ToolPathSegment>::reverse_iterator;
+  /** const_reverse_iterator */
+  using const_reverse_iterator = typename AlignedVector<ToolPathSegment>::const_reverse_iterator;
+
+  ///////////////
+  // Iterators //
+  ///////////////
+  /** @brief returns an iterator to the beginning */
+  iterator begin();
+  /** @brief returns an iterator to the beginning */
+  const_iterator begin() const;
+  /** @brief returns an iterator to the end */
+  iterator end();
+  /** @brief returns an iterator to the end */
+  const_iterator end() const;
+  /** @brief returns a reverse iterator to the beginning */
+  reverse_iterator rbegin();
+  /** @brief returns a reverse iterator to the beginning */
+  const_reverse_iterator rbegin() const;
+  /** @brief returns a reverse iterator to the end */
+  reverse_iterator rend();
+  /** @brief returns a reverse iterator to the end */
+  const_reverse_iterator rend() const;
+  /** @brief returns an iterator to the beginning */
+  const_iterator cbegin() const;
+  /** @brief returns an iterator to the end */
+  const_iterator cend() const;
+  /** @brief returns a reverse iterator to the beginning */
+  const_reverse_iterator crbegin() const;
+  /** @brief returns a reverse iterator to the end */
+  const_reverse_iterator crend() const;
+
+  //////////////
+  // Capacity //
+  //////////////
+  /** @brief checks whether the container is empty */
+  bool empty() const;
+  /** @brief returns the number of elements */
+  size_type size() const;
+  /** @brief returns the maximum possible number of elements */
+  size_type max_size() const;
+  /** @brief reserve number of elements */
+  void reserve(size_type n);
+  /** @brief returns the number of elements that can be held in currently allocated storage */
+  size_type capacity() const;
+  /** @brief reduces memory usage by freeing unused memory  */
+  void shrink_to_fit();
+
+  ////////////////////
+  // Element Access //
+  ////////////////////
+  /** @brief access the first element */
+  reference front();
+  /** @brief access the first element */
+  const_reference front() const;
+  /** @brief access the last element */
+  reference back();
+  /** @brief access the last element */
+  const_reference back() const;
+  /** @brief access specified element with bounds checking */
+  reference at(size_type n);
+  /** @brief access specified element with bounds checking */
+  const_reference at(size_type n) const;
+  /** @brief direct access to the underlying array  */
+  pointer data();
+  /** @brief direct access to the underlying array  */
+  const_pointer data() const;
+  /** @brief access specified element */
+  reference operator[](size_type pos);
+  /** @brief access specified element */
+  const_reference operator[](size_type pos) const;
+
+  ///////////////
+  // Modifiers //
+  ///////////////
+  /** @brief clears the contents */
+  void clear();
+
+  /** @brief inserts element */
+  iterator insert(const_iterator p, const ToolPathSegment& x);
+  iterator insert(const_iterator p, ToolPathSegment&& x);
+  iterator insert(const_iterator p, std::initializer_list<ToolPathSegment> l);
+  template <class InputIt>
+  void insert(const_iterator pos, InputIt first, InputIt last)
+  {
+    container_.insert(pos, first, last);
+  }
+
+  /** @brief constructs element in-place */
+  template <class... Args>
+  iterator emplace(const_iterator pos, Args&&... args);
+
+  /** @brief erases element */
+  iterator erase(const_iterator p);
+  iterator erase(const_iterator first, const_iterator last);
+
+  /** Append element to container */
+  void push_back(const ToolPathSegment& x);
+  void push_back(const ToolPathSegment&& x);
+
+  /** @brief constructs an element in-place at the end  */
+  template <typename... Args>
+#if __cplusplus > 201402L
+  reference emplace_back(Args&&... args);
+#else
+  void emplace_back(Args&&... args);
+#endif
+
+  /** @brief removes the last element */
+  void pop_back();
+
+  /** @brief swaps the contents  */
+  void swap(AlignedVector<ToolPathSegment>& other);
+  // LCOV_EXCL_STOP
+
+protected:
+  /** @brief The uuid */
+  boost::uuids::uuid uuid_{};
+
+  /** @brief The parent uuid */
+  boost::uuids::uuid parent_uuid_{};
+
+  /** @brief The description */
+  std::string description_;
+
+  /** @brief The container */
+  AlignedVector<ToolPathSegment> container_;
+
+  /** @brief The namespace associated with the tool path */
+  std::string ns_{ "general" };
+
+  friend struct tesseract_common::Serialization;
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive& ar, const unsigned int version);  // NOLINT
+};
+
+}  // namespace tesseract_common
+
+#include <boost/serialization/export.hpp>
+#include <boost/serialization/tracking.hpp>
+BOOST_CLASS_EXPORT_KEY2(tesseract_common::ToolPath, "ToolPath")
+
+#endif  // TESSERACT_COMMON_TOOL_PATH_H