ModelState.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 model state
 * Author: Nate Koenig
 */

#ifndef _MODELSTATE_HH_
#define _MODELSTATE_HH_

#include <vector>
#include <string>

#include "gazebo/math/Pose.hh"

#include "gazebo/physics/State.hh"
#include "gazebo/physics/LinkState.hh"
#include "gazebo/physics/JointState.hh"

namespace gazebo
{
  namespace physics
  {

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

      public: explicit ModelState(const ModelPtr _model);

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

      public: virtual ~ModelState();

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

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

      public: bool IsZero() const;

      public: unsigned int GetLinkStateCount() const;

      public: LinkState GetLinkState(unsigned int _index) const;

      public: LinkState GetLinkState(const std::string &_linkName) const;

      public: bool HasLinkState(const std::string &_linkName) const;

      public: const std::vector<LinkState> &GetLinkStates() const;

      public: unsigned int GetJointStateCount() const;

      public: JointState GetJointState(unsigned int _index) const;

      public: JointState GetJointState(const std::string &_jointName) const;

      public: const std::vector<JointState> &GetJointStates() const;

      public: bool HasJointState(const std::string &_jointName) const;

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

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

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

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

      public: friend std::ostream &operator<<(std::ostream &_out,
                                     const gazebo::physics::ModelState &_state)
      {
        _out << "<model name='" << _state.GetName() << "'>\n";
        _out << "<pose>" << _state.pose << "</pose>\n";

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

        // Output the joint information
        for (std::vector<JointState>::const_iterator iter =
            _state.jointStates.begin(); iter != _state.jointStates.end();
            ++iter)
        {
          _out << *iter;
        }

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

        return _out;
      }

      private: math::Pose pose;

      private: std::vector<LinkState> linkStates;

      private: std::vector<JointState> jointStates;
    };
  }
}
#endif