locked-joint.hh

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// Copyright (c) 2015 - 2018, LAAS-CNRS
// Authors: Florent Lamiraux, Joseph Mirabel
//
 
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// modification, are permitted provided that the following conditions are
// met:
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// 1. Redistributions of source code must retain the above copyright
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#ifndef HPP_CONSTRAINTS_LOCKED_JOINT_HH
#define HPP_CONSTRAINTS_LOCKED_JOINT_HH
 
#include <hpp/constraints/explicit.hh>
#include <hpp/pinocchio/joint.hh>
 
namespace hpp {
namespace constraints {
 
 
class HPP_CONSTRAINTS_DLLAPI LockedJoint : public Explicit {
 public:
  virtual ImplicitPtr_t copy() const;
 
  static LockedJointPtr_t create(const JointPtr_t& joint,
                                 const LiegroupElement& value);
 
  static LockedJointPtr_t create(const JointPtr_t& joint, const size_type index,
                                 vectorIn_t value);
 
  static LockedJointPtr_t create(const DevicePtr_t& dev, const size_type index,
                                 vectorIn_t value);
 
  static LockedJointPtr_t createCopy(LockedJointConstPtr_t other);
 
  size_type rankInConfiguration() const;
 
  size_type rankInVelocity() const;
 
  size_type configSize() const;
 
  size_type numberDof() const;
 
  const LiegroupSpacePtr_t& configSpace() const;
 
  vectorIn_t value() const;
 
  void value(vectorIn_t value);
 
  const JointPtr_t& joint() { return joint_; }
  const std::string& jointName() const { return jointName_; }
  std::ostream& print(std::ostream& os) const;
 
  virtual std::pair<JointConstPtr_t, JointConstPtr_t>
  doesConstrainRelPoseBetween(DeviceConstPtr_t robot) const;
 
 protected:
  LockedJoint(const JointPtr_t& joint, const LiegroupElement& value);
  LockedJoint(const JointPtr_t& joint, const size_type index, vectorIn_t value);
  LockedJoint(const DevicePtr_t& robot, const size_type index,
              vectorIn_t value);
  LockedJoint(const LockedJoint& other);
  virtual bool isEqual(const Implicit& other, bool swapAndTest) const;
 
  void init(const LockedJointPtr_t& self);
 
 private:
  std::string jointName_;
  JointPtr_t joint_;
  LiegroupSpacePtr_t configSpace_;
  LockedJointWkPtr_t weak_;
 
  LockedJoint() {}
  HPP_SERIALIZABLE();
};  // class LockedJoint
 
inline std::ostream& operator<<(std::ostream& os, const LockedJoint& lj) {
  return lj.print(os);
}
}  // namespace constraints
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::constraints::LockedJoint)
#endif  // HPP_CONSTRAINTS_LOCKED_JOINT_HH