Inertial.hh

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/*
 * Copyright (C) 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.
 *
*/
#ifndef GAZEBO_PHYSICS_INERTIAL_HH_
#define GAZEBO_PHYSICS_INERTIAL_HH_

#ifdef _WIN32
  // Ensure that Winsock2.h is included before Windows.h, which can get
  // pulled in by anybody (e.g., Boost).
  #include <Winsock2.h>
#endif

#include <string>
#include <memory>

#include <ignition/math/Inertial.hh>
#include <sdf/sdf.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/math/Quaternion.hh>
#include <ignition/math/Matrix3.hh>

#include "gazebo/msgs/msgs.hh"

#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    // Forward declare private data
    class InertialPrivate;


    class GZ_PHYSICS_VISIBLE Inertial
    {
      public: Inertial();

      public: explicit Inertial(const double _mass);

      // cppcheck-suppress noExplicitConstructor
      public: Inertial(const ignition::math::Inertiald &_inertial);

      public: Inertial(const Inertial &_inertial);

      public: virtual ~Inertial();

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

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

      public: void Reset();

      public: ignition::math::Inertiald Ign() const;

      public: void SetMass(const double _m);

      public: double Mass() const;

      public: void SetInertiaMatrix(
                  const double _ixx, const double _iyy, const double _izz,
                  const double _ixy, const double _ixz, const double iyz);

      public: void SetCoG(const double _cx, const double _cy, const double _cz);

      public: void SetCoG(const ignition::math::Vector3d &_center);

      public: void SetCoG(const double _cx, const double _cy, const double _cz,
                          const double _rx, const double _ry, const double _rz);

      public: void SetCoG(const ignition::math::Pose3d &_c);

      public: const ignition::math::Vector3d &CoG() const;

      public: ignition::math::Pose3d Pose() const;

      public: const ignition::math::Vector3d &PrincipalMoments() const;

      public: const ignition::math::Vector3d &ProductsOfInertia() const;

      public: double IXX() const;

      public: double IYY() const;

      public: double IZZ() const;

      public: double IXY() const;

      public: double IXZ() const;

      public: double IYZ() const;

      public: void SetIXX(const double _v);

      public: void SetIYY(const double _v);

      public: void SetIZZ(const double _v);

      public: void SetIXY(const double _v);

      public: void SetIXZ(const double _v);

      public: void SetIYZ(const double _v);

      public: void Rotate(const ignition::math::Quaterniond &_rot);

      public: Inertial &operator=(const Inertial &_inertial);

      public: Inertial &operator=(const ignition::math::Inertiald &_inertial);

      public: Inertial operator+(const Inertial &_inertial) const;

      public: const Inertial &operator+=(const Inertial &_inertial);

      public: void ProcessMsg(const msgs::Inertial &_msg);

      public: ignition::math::Matrix3d MOI(
                  const ignition::math::Pose3d &_pose) const;

      public: Inertial operator()(
                  const ignition::math::Pose3d &_frameOffset) const;

      public: Inertial operator()(
                  const ignition::math::Vector3d &_frameOffset) const;

      public: friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::physics::Inertial &_inertial)
              {
                _out << "Mass[" << _inertial.Mass() << "] CoG["
                    << _inertial.CoG() << "]\n";
                _out << "IXX[" << _inertial.PrincipalMoments().X() << "] "
                     << "IYY[" << _inertial.PrincipalMoments().Y() << "] "
                     << "IZZ[" << _inertial.PrincipalMoments().Z() << "]\n";
                _out << "IXY[" << _inertial.ProductsOfInertia().X() << "] "
                     << "IXZ[" << _inertial.ProductsOfInertia().Y() << "] "
                     << "IYZ[" << _inertial.ProductsOfInertia().Z() << "]\n";
                return _out;
              }

      public: ignition::math::Matrix3d MOI() const;

      public: void SetMOI(const ignition::math::Matrix3d &_moi);

      private: std::unique_ptr<InertialPrivate> dataPtr;
    };
  }
}
#endif