LinkState.hh

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/*
 * Copyright 2012 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.
 *
*/
/* Desc: A link state
 * Author: Nate Koenig
 */

#ifndef _LINKSTATE_HH_
#define _LINKSTATE_HH_

#include <vector>
#include <string>

#include "gazebo/sdf/sdf.hh"
#include "gazebo/physics/State.hh"
#include "gazebo/physics/CollisionState.hh"
#include "gazebo/math/Pose.hh"

namespace gazebo
{
  namespace physics
  {

    class LinkState : public State
    {
      public: LinkState();

      public: explicit LinkState(const LinkPtr _link);

      public: explicit LinkState(const sdf::ElementPtr _sdf);

      public: virtual ~LinkState();

      public: virtual void Load(const sdf::ElementPtr _elem);

      public: const math::Pose &GetPose() const;

      public: const math::Pose &GetVelocity() const;

      public: const math::Pose &GetAcceleration() const;

      public: const math::Pose &GetWrench() const;

      public: unsigned int GetCollisionStateCount() const;

      public: CollisionState GetCollisionState(unsigned int _index) const;

      public: CollisionState GetCollisionState(
                  const std::string &_collisionName) const;

      public: const std::vector<CollisionState> &GetCollisionStates() const;

      public: bool IsZero() const;

      public: void FillSDF(sdf::ElementPtr _sdf);

      public: LinkState &operator=(const LinkState &_state);

      public: LinkState operator-(const LinkState &_state) const;

      public: LinkState operator+(const LinkState &_state) const;

      public: friend std::ostream &operator<<(std::ostream &_out,
                                     const gazebo::physics::LinkState &_state)
      {
        _out << "<link name='" << _state.name << "'>\n";
        _out << "<pose>" << _state.pose << "</pose>\n";
        _out << "<velocity>" << _state.velocity << "</velocity>\n";
        _out << "<acceleration>" << _state.acceleration << "</acceleration>\n";
        _out << "<wrench>" << _state.wrench << "</wrench>\n";

        for (std::vector<CollisionState>::const_iterator iter =
             _state.collisionStates.begin();
             iter != _state.collisionStates.end(); ++iter)
        {
          _out << *iter;
        }

        _out << "</link>\n";

        return _out;
      }

      private: math::Pose pose;

      private: math::Pose velocity;

      private: math::Pose acceleration;

      private: math::Pose wrench;

      private: std::vector<CollisionState> collisionStates;
    };
  }
}
#endif