joint.hh

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//
// Copyright (c) 2016 CNRS
// Author: NMansard from Florent Lamiraux
//
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_PINOCCHIO_JOINT_HH
#define HPP_PINOCCHIO_JOINT_HH
 
#include <cstddef>
#include <hpp/pinocchio/config.hh>
#include <hpp/pinocchio/fwd.hh>
#include <hpp/util/serialization-fwd.hh>
 
namespace hpp {
namespace pinocchio {
class HPP_PINOCCHIO_DLLAPI Joint {
 public:
 
  static JointPtr_t create(DeviceWkPtr_t device, JointIndex indexInJointList);
 
  Joint(DeviceWkPtr_t device, JointIndex indexInJointList);
 
  ~Joint() {}
  // -----------------------------------------------------------------------
 
  const std::string& name() const;
 
  // -----------------------------------------------------------------------
 
  const Transform3s& currentTransformation() const {
    return currentTransformation(data());
  }
 
  const Transform3s& currentTransformation(const DeviceData& data) const;
 
  // -----------------------------------------------------------------------
 
  size_type numberDof() const;
 
  size_type configSize() const;
 
  size_type rankInConfiguration() const;
 
  size_type rankInVelocity() const;
 
  // -----------------------------------------------------------------------
 
  JointPtr_t parentJoint() const;
 
  std::size_t numberChildJoints() const;
 
  JointPtr_t childJoint(std::size_t rank) const;
 
  const Transform3s& positionInParentFrame() const;
 
  // -----------------------------------------------------------------------
 
  void isBounded(size_type rank, bool bounded);
  bool isBounded(size_type rank) const;
  value_type lowerBound(size_type rank) const;
  value_type upperBound(size_type rank) const;
  void lowerBound(size_type rank, value_type lowerBound);
  void upperBound(size_type rank, value_type upperBound);
  void lowerBounds(vectorIn_t lowerBounds);
  void upperBounds(vectorIn_t upperBounds);
 
  value_type upperBoundLinearVelocity() const;
 
  value_type upperBoundAngularVelocity() const;
 
  const value_type& maximalDistanceToParent() {
    if (maximalDistanceToParent_ < 0) computeMaximalDistanceToParent();
    return maximalDistanceToParent_;
  }
 
 protected:
  void computeMaximalDistanceToParent();
 
 public:
  // -----------------------------------------------------------------------
 
  JointJacobian_t& jacobian(const bool localFrame = true) const {
    return jacobian(data(), localFrame);
  }
 
  JointJacobian_t& jacobian(DeviceData& data,
                            const bool localFrame = true) const;
 
  // -----------------------------------------------------------------------
 
  DeviceConstPtr_t robot() const { return devicePtr.lock(); }
  DevicePtr_t robot() { return devicePtr.lock(); }
 
 
  BodyPtr_t linkedBody() const;
 
 
  std::ostream& display(std::ostream& os) const;
 
  LiegroupSpacePtr_t configurationSpace() const;
 
  LiegroupSpacePtr_t RnxSOnConfigurationSpace() const;
 
 
  const JointIndex& index() const { return jointIndex; }
 
  static inline size_type index(const JointConstPtr_t& joint) {
    return (joint ? joint->index() : 0);
  }
 
  const JointModel& jointModel() const;
 
 
  bool operator==(const Joint& other) const {
    return index() == other.index() && robot() == other.robot();
  }
 
  bool operator!=(const Joint& other) const { return !operator==(other); }
 
 protected:
  value_type maximalDistanceToParent_;
  DeviceWkPtr_t devicePtr;
  JointIndex jointIndex;
  std::vector<JointIndex> children;
 
  void setChildList();
  Model& model();
  const Model& model() const;
  DeviceData& data() const;
 
  void selfAssert() const;
 
  friend class Device;
 
  Joint() {}
  HPP_SERIALIZABLE();
};  // class Joint
 
inline std::ostream& operator<<(std::ostream& os, const Joint& joint) {
  return joint.display(os);
}
 
}  // namespace pinocchio
}  // namespace hpp
 
#endif  // HPP_PINOCCHIO_JOINT_HH