Joint.hh

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/*
 * Copyright (C) 2023 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_JOINT_HH_
#define GZ_SIM_JOINT_HH_
 
#include <memory>
#include <optional>
#include <string>
#include <vector>
 
#include <gz/msgs/wrench.pb.h>
#include <gz/utils/ImplPtr.hh>
 
#include <gz/math/Pose3.hh>
#include <gz/math/Vector2.hh>
#include <gz/math/Vector3.hh>
 
#include <sdf/Joint.hh>
#include <sdf/JointAxis.hh>
 
#include "gz/sim/config.hh"
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/Export.hh"
#include "gz/sim/Model.hh"
#include "gz/sim/Types.hh"
 
namespace gz
{
  namespace sim
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SIM_VERSION_NAMESPACE {
    //
    class GZ_SIM_VISIBLE Joint
    {
      public: explicit Joint(sim::Entity _entity = kNullEntity);
 
      public: sim::Entity Entity() const;
 
      public: void ResetEntity(sim::Entity _newEntity);
 
      public: bool Valid(const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::string> Name(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::string> ParentLinkName(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::string> ChildLinkName(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Pose3d> Pose(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<double> ThreadPitch(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::vector<sdf::JointAxis>> Axis(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<sdf::JointType> Type(
          const EntityComponentManager &_ecm) const;
 
      public: sim::Entity SensorByName(const EntityComponentManager &_ecm,
          const std::string &_name) const;
 
      public: std::vector<sim::Entity> Sensors(
          const EntityComponentManager &_ecm) const;
 
      public: uint64_t SensorCount(const EntityComponentManager &_ecm) const;
 
      public: void SetVelocity(EntityComponentManager &_ecm,
          const std::vector<double> &_velocities);
 
      public: void SetForce(EntityComponentManager &_ecm,
          const std::vector<double> &_forces);
 
      public: void SetVelocityLimits(EntityComponentManager &_ecm,
          const std::vector<math::Vector2d> &_limits);
 
      public: void SetEffortLimits(EntityComponentManager &_ecm,
          const std::vector<math::Vector2d> &_limits);
 
      public: void SetPositionLimits(EntityComponentManager &_ecm,
          const std::vector<math::Vector2d> &_limits);
 
      public: void ResetPosition(EntityComponentManager &_ecm,
          const std::vector<double> &_positions);
 
      public: void ResetVelocity(EntityComponentManager &_ecm,
          const std::vector<double> &_velocities);
 
      public: void EnableVelocityCheck(EntityComponentManager &_ecm,
          bool _enable = true) const;
 
      public: void EnablePositionCheck(EntityComponentManager &_ecm,
          bool _enable = true) const;
 
      public: void EnableTransmittedWrenchCheck(EntityComponentManager &_ecm,
          bool _enable = true) const;
 
      public: std::optional<std::vector<double>> Velocity(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::vector<double>> Position(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::vector<msgs::Wrench>> TransmittedWrench(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<Model> ParentModel(
          const EntityComponentManager &_ecm) const;
 
      GZ_UTILS_IMPL_PTR(dataPtr)
    };
    }
  }
}
#endif