JointAxis.hh

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/*
 * Copyright 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 SDF_JOINTAXIS_HH_
#define SDF_JOINTAXIS_HH_
 
#include <memory>
#include <string>
#include <utility>
#include <gz/math/Vector3.hh>
#include <gz/utils/ImplPtr.hh>
#include "sdf/Element.hh"
#include "sdf/Exception.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  // Forward declare private data class.
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;
 
  class SDFORMAT_VISIBLE MimicConstraint
  {
    public: MimicConstraint(
              const std::string &_joint = "",
              const std::string &_axis = "axis",
              double _multiplier = 0.0,
              double _offset = 0.0,
              double _reference = 0.0);
 
    public: void SetJoint(const std::string &_joint);
 
    public: void SetAxis(const std::string &_axis);
 
    public: void SetMultiplier(double _multiplier);
 
    public: void SetOffset(double _offset);
 
    public: void SetReference(double _reference);
 
    public: const std::string &Joint() const;
 
    public: const std::string &Axis() const;
 
    public: double Multiplier() const;
 
    public: double Offset() const;
 
    public: double Reference() const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
 
  class SDFORMAT_VISIBLE JointAxis
  {
    public: JointAxis();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: gz::math::Vector3d Xyz() const;
 
    public: [[nodiscard]] sdf::Errors SetXyz(
                const gz::math::Vector3d &_xyz);
 
    public: void SetMimic(const MimicConstraint &_mimic);
 
    public: std::optional<MimicConstraint> Mimic() const;
 
    public: double Damping() const;
 
    public: void SetDamping(const double _damping);
 
    public: double Friction() const;
 
    public: void SetFriction(const double _friction);
 
    public: double SpringReference() const;
 
    public: void SetSpringReference(const double _spring);
 
    public: double SpringStiffness() const;
 
    public: void SetSpringStiffness(const double _spring);
 
    public: double Lower() const;
 
    public: void SetLower(const double _lower);
 
    public: double Upper() const;
 
    public: void SetUpper(const double _upper);
 
    public: double Effort() const;
 
    public: void SetEffort(double _effort);
 
    public: double MaxVelocity() const;
 
    public: void SetMaxVelocity(const double _velocity);
 
    public: double Stiffness() const;
 
    public: void SetStiffness(const double _stiffness);
 
    public: double Dissipation() const;
 
    public: void SetDissipation(const double _dissipation);
 
    public: const std::string& XyzExpressedIn() const;
 
    public: void SetXyzExpressedIn(const std::string &_frame);
 
    public: Errors ResolveXyz(
        gz::math::Vector3d &_xyz,
        const std::string &_resolveTo = "") const;
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::ElementPtr ToElement(unsigned int _index = 0u) const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors,
                                      unsigned int _index = 0u) const;
 
    private: void SetXmlParentName(const std::string &_xmlParentName);
 
    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
    friend class Joint;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif