From e4e682f959aef7dc71e79490824abc2f22b17d5a Mon Sep 17 00:00:00 2001
From: Junichiro Sugihara <j-sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 4 Jan 2024 13:03:27 +0900
Subject: [PATCH] [Ninja][Model][WIP] create another robot model instance to
 treat the networked structure

---
 robots/ninja/include/ninja/model/ninja_robot_model.h | 7 +++++++
 robots/ninja/src/model/ninja_robot_model.cpp         | 9 +++++++++
 2 files changed, 16 insertions(+)

diff --git a/robots/ninja/include/ninja/model/ninja_robot_model.h b/robots/ninja/include/ninja/model/ninja_robot_model.h
index 89b5ed282..30b9adfbf 100644
--- a/robots/ninja/include/ninja/model/ninja_robot_model.h
+++ b/robots/ninja/include/ninja/model/ninja_robot_model.h
@@ -17,5 +17,12 @@ class NinjaRobotModel : public BeetleRobotModel{
                     double epsilon = 10);
   virtual ~NinjaRobotModel() = default;
 
+  void calcCenterOfMoving() override;
+
+private:
+  boost::shared_ptr<aerial_robot_model::transformable::RobotModel> networked_robot_model_;
+
+protected:
+  virtual void updateRobotModelImpl(const KDL::JntArray& joint_positions) override;
 };
 
diff --git a/robots/ninja/src/model/ninja_robot_model.cpp b/robots/ninja/src/model/ninja_robot_model.cpp
index c4060e32a..8ecc47eb5 100644
--- a/robots/ninja/src/model/ninja_robot_model.cpp
+++ b/robots/ninja/src/model/ninja_robot_model.cpp
@@ -3,6 +3,15 @@
 NinjaRobotModel::NinjaRobotModel(bool init_with_rosparam, bool verbose, double fc_t_min_thre, double epsilon) :
   BeetleRobotModel(init_with_rosparam, verbose, fc_t_min_thre, epsilon)
 {
+  networked_robot_model_ = boost::make_shared<aerial_robot_model::transformable::RobotModel>(); 
+}
+
+void NinjaRobotModel::updateRobotModelImpl(){
+  BeetleRobotModel::updateRobotModelImpl();
+}
+
+void NinjaRobotModel::calcCenterOfMoving(const KDL::JntArray& joint_positions){
+  BeetleRobotModel::calcCenterOfMoving(joint_positions);
 }
 
 /* plugin registration */