include/gz/sim/components/DetachableJoint.hh

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/*
 * Copyright (C) 2019 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_SIM_COMPONENTS_DETACHABLE_JOINT_HH_
#define GZ_SIM_COMPONENTS_DETACHABLE_JOINT_HH_
 
#include <string>
#include <gz/sim/Entity.hh>
#include <gz/sim/components/Factory.hh>
#include <gz/sim/components/Component.hh>
#include <gz/sim/config.hh>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace components
{
  struct DetachableJointInfo
  {
    Entity parentLink;
    Entity childLink;
    // \brief Type of joint. Only the "fixed" joint type is currently supported.
    std::string jointType = {"fixed"};
 
    public: bool operator==(const DetachableJointInfo &_info) const
    {
      return (this->parentLink == _info.parentLink) &&
             (this->childLink == _info.childLink) &&
             (this->jointType == _info.jointType);
    }
 
    public: bool operator!=(const DetachableJointInfo &_info) const
    {
      return !(*this == _info);
    }
  };
}
 
namespace serializers
{
  class DetachableJointInfoSerializer
  {
    public: static std::ostream &Serialize(
                std::ostream &_out,
                const components::DetachableJointInfo &_info)
    {
      _out << _info.parentLink << " " << _info.childLink << " "
           << _info.jointType;
      return _out;
    }
 
    public: static std::istream &Deserialize(
                std::istream &_in, components::DetachableJointInfo &_info)
    {
      _in >> _info.parentLink >> _info.childLink >> _info.jointType;
      return _in;
    }
  };
}
 
namespace components
{
  using DetachableJoint =
      Component<DetachableJointInfo, class DetachableJointTag,
                serializers::DetachableJointInfoSerializer>;
  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.DetachableJoint",
                                DetachableJoint)
 
  using DetachableJointEnforceFixedConstraint =
      Component<bool, class DetachableJointEnforceFixedConstraintTag>;
  GZ_SIM_REGISTER_COMPONENT(
      "gz_sim_components.DetachableJointEnforceFixedConstraint",
      DetachableJointEnforceFixedConstraint)
}
}
}
}
 
#endif