RevoluteJoint.hh

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/*
 * Copyright (C) 2018 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_PHYSICS_REVOLUTEJOINT_HH_
#define GZ_PHYSICS_REVOLUTEJOINT_HH_
 
#include <string>
 
#include <gz/physics/DeclareJointType.hh>
#include <gz/physics/Geometry.hh>
 
namespace gz
{
  namespace physics
  {
    GZ_PHYSICS_DECLARE_JOINT_TYPE(RevoluteJoint)
 
    class GZ_PHYSICS_VISIBLE GetRevoluteJointProperties
        : public virtual FeatureWithRequirements<RevoluteJointCast>
    {
      public: template <typename PolicyT, typename FeaturesT>
      class RevoluteJoint : public virtual Entity<PolicyT, FeaturesT>
      {
        public: using Axis =
            typename FromPolicy<PolicyT>::template Use<AngularVector>;
 
        public: Axis GetAxis() const;
      };
 
      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: using Axis =
            typename FromPolicy<PolicyT>::template Use<AngularVector>;
 
        public: virtual Axis GetRevoluteJointAxis(
            const Identity &_id) const = 0;
      };
    };
 
    class GZ_PHYSICS_VISIBLE SetRevoluteJointProperties
        : public virtual FeatureWithRequirements<RevoluteJointCast>
    {
      public: template <typename PolicyT, typename FeaturesT>
      class RevoluteJoint : public virtual Entity<PolicyT, FeaturesT>
      {
        public: using Axis =
            typename FromPolicy<PolicyT>::template Use<AngularVector>;
 
        public: void SetAxis(const Axis &_axis);
      };
 
      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: using Axis =
            typename FromPolicy<PolicyT>::template Use<AngularVector>;
 
        public: virtual void SetRevoluteJointAxis(
            const Identity &_id, const Axis &_axis) = 0;
      };
    };
 
    class GZ_PHYSICS_VISIBLE AttachRevoluteJointFeature
        : public virtual FeatureWithRequirements<RevoluteJointCast>
    {
      public: template <typename PolicyT, typename FeaturesT>
      class Link : public virtual Feature::Link<PolicyT, FeaturesT>
      {
        public: using Axis =
            typename FromPolicy<PolicyT>::template Use<AngularVector>;
 
        public: using JointPtrType = RevoluteJointPtr<PolicyT, FeaturesT>;
 
        //
        // TODO(MXG): Instead of _name and _axis, consider passing in a struct
        // containing all base joint properties plus the axis.
        public: JointPtrType AttachRevoluteJoint(
            const BaseLinkPtr<PolicyT> &_parent,
            const std::string &_name = "revolute",
            const Axis &_axis = Axis::UnitX());
      };
 
      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: using Axis =
            typename FromPolicy<PolicyT>::template Use<AngularVector>;
 
        public: virtual Identity AttachRevoluteJoint(
            const Identity &_childID,
            const BaseLinkPtr<PolicyT> &_parent,
            const std::string &_name,
            const Axis &_axis) = 0;
      };
    };
  }
}
 
#include <gz/physics/detail/RevoluteJoint.hh>
 
#endif