Joint.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_JOINT_HH_
#define SDF_JOINT_HH_
 
#include <memory>
#include <string>
#include <gz/math/Pose3.hh>
#include <gz/utils/ImplPtr.hh>
#include "sdf/Element.hh"
#include "sdf/SemanticPose.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 declarations.
  class JointAxis;
  struct FrameAttachedToGraph;
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;
  class Sensor;
 
  enum class JointType
  {
    INVALID = 0,
 
    BALL = 1,
 
    CONTINUOUS = 2,
 
    FIXED = 3,
 
    GEARBOX = 4,
 
    PRISMATIC = 5,
 
    REVOLUTE = 6,
 
    REVOLUTE2 = 7,
 
    SCREW = 8,
 
    UNIVERSAL = 9
  };
 
  class SDFORMAT_VISIBLE Joint
  {
    public: Joint();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: const std::string &Name() const;
 
    public: void SetName(const std::string &_name);
 
    public: JointType Type() const;
 
    public: void SetType(const JointType _jointType);
 
    public: const std::string &ParentName() const;
 
    public: void SetParentName(const std::string &_name);
 
    public: const std::string &ChildName() const;
 
    public: void SetChildName(const std::string &_name);
 
    public: Errors ResolveChildLink(std::string &_link) const;
 
    public: Errors ResolveParentLink(std::string &_link) const;
 
    public: const JointAxis *Axis(const unsigned int _index = 0) const;
 
    public: void SetAxis(const unsigned int _index, const JointAxis &_axis);
 
    public: const gz::math::Pose3d &RawPose() const;
 
    public: void SetRawPose(const gz::math::Pose3d &_pose);
 
    public: const std::string &PoseRelativeTo() const;
 
    public: void SetPoseRelativeTo(const std::string &_frame);
 
    public: double ScrewThreadPitch() const;
 
    public: void SetScrewThreadPitch(double _threadPitch);
 
    public: double ThreadPitch() const;
 
    public: void SetThreadPitch(double _threadPitch);
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::SemanticPose SemanticPose() const;
 
    public: uint64_t SensorCount() const;
 
    public: const Sensor *SensorByIndex(const uint64_t _index) const;
 
    public: Sensor *SensorByIndex(uint64_t _index);
 
    public: bool SensorNameExists(const std::string &_name) const;
 
    public: const Sensor *SensorByName(const std::string &_name) const;
 
    public: Sensor *SensorByName(const std::string &_name);
 
    public: sdf::ElementPtr ToElement() const;
 
    public: bool AddSensor(const Sensor &_sensor);
 
    public: void ClearSensors();
 
    private: void SetFrameAttachedToGraph(
        sdf::ScopedGraph<FrameAttachedToGraph> _graph);
 
    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
    friend class Model;
 
    friend class World;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif