JointState.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_JOINTSTATE_HH_
#define GAZEBO_PHYSICS_JOINTSTATE_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 <vector>
#include <string>
#include <ignition/math/Angle.hh>

#include "gazebo/physics/State.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE JointState : public State
    {
      public: JointState();

      public: JointState(JointPtr _joint, const common::Time &_realTime,
                  const common::Time &_simTime, const uint64_t _iterations);

      public: explicit JointState(JointPtr _joint);

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

      public: virtual ~JointState();

      public: void Load(JointPtr _joint, const common::Time &_realTime,
                  const common::Time &_simTime);

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

      public: unsigned int GetAngleCount() const;

      public: double Position(const unsigned int _axis = 0) const;

      public: const std::vector<double> &Positions() const;

      public: bool IsZero() const;

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

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

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

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

      public: inline friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::physics::JointState &_state)
      {
        if (_state.GetAngleCount() > 0)
        {
          _out << "<joint name='" << _state.GetName() << "'>";

          int i = 0;
          for (std::vector<double>::const_iterator iter =
              _state.positions.begin(); iter != _state.positions.end(); ++iter)
          {
            _out << "<angle axis='" << i << "'>" << (*iter) << "</angle>";
            i++;
          }

          _out << "</joint>";
        }

        return _out;
      }

      private: std::vector<double> positions;
    };
  }
}
#endif