SimbodyJoint.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 _SIMBODY_JOINT_HH_
#define _SIMBODY_JOINT_HH_

#include <boost/any.hpp>
#include <string>

#include "gazebo/physics/simbody/SimbodyPhysics.hh"
#include "gazebo/physics/Joint.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE SimbodyJoint : public Joint
    {
      public: explicit SimbodyJoint(BasePtr _parent);

      public: virtual ~SimbodyJoint();

      // Documentation inherited.
      public: virtual void Load(sdf::ElementPtr _sdf) override;

      // Documentation inherited.
      public: virtual void Reset() override;

      // Documentation inherited.
      public: virtual LinkPtr GetJointLink(unsigned int _index) const override;

      // Documentation inherited.
      public: virtual bool AreConnected(LinkPtr _one, LinkPtr _two) const
            override;

      // Documentation inherited.
      public: virtual void Detach() override;

      // Documentation inherited.
      public: virtual void SetAnchor(const unsigned int _index,
                  const ignition::math::Vector3d &_anchor) override;

      // Documentation inherited.
      public: virtual void SetDamping(unsigned int _index,
                                      const double _damping) override;

      // Documentation inherited.
      public: virtual void SetStiffness(unsigned int _index,
                                        const double _stiffness) override;

      // Documentation inherited.
      public: virtual void SetStiffnessDamping(unsigned int _index,
        double _stiffness, double _damping, double _reference = 0) override;

      // Documentation inherited.
      public: virtual ignition::math::Vector3d Anchor(
          const unsigned int _index) const override;

      // Documentation inherited.
      public: virtual bool SetPosition(
                              const unsigned int _index,
                              const double _position,
                              const bool _preserveWorldVelocity = false)
            override;

      // Documentation inherited.
      public: virtual ignition::math::Vector3d LinkForce(
          const unsigned int _index) const override;

      // Documentation inherited.
      public: virtual ignition::math::Vector3d LinkTorque(
          const unsigned int _index) const override;

      // Documentation inherited.
      public: virtual bool SetParam(const std::string &_key,
                                        unsigned int _index,
                                        const boost::any &_value)
            override;

      // Documentation inherited.
      public: virtual double GetParam(const std::string &_key,
                  unsigned int _index) override;

      // Save current Simbody State
      public: virtual void SaveSimbodyState(const SimTK::State &_state);

      // Restore saved Simbody State
      public: virtual void RestoreSimbodyState(SimTK::State &_state);

      // Documentation inherited.
      public: virtual void SetForce(unsigned int _index, double _force)
            override;

      // Documentation inherited.
      public: virtual double GetForce(unsigned int _index) override;

      // Documentation inherited.
      public: virtual void SetAxis(const unsigned int _index,
                                   const ignition::math::Vector3d &_axis)
            override;

      // Documentation inherited.
      public: virtual JointWrench GetForceTorque(unsigned int _index) override;

      protected: virtual void SetForceImpl(unsigned int _index,
                                           double _force) = 0;

      private: void SaveForce(unsigned int _index, double _force);

      // Documentation inherited.
      public: virtual void CacheForceTorque() override;

      public: bool mustBreakLoopHere;

      public: SimTK::Transform xPA;

      public: SimTK::Transform xCB;

      public: SimTK::Transform defxAB;

      public: SimTK::Force::MobilityLinearSpring spring[MAX_JOINT_AXIS];

      public: SimTK::Force::MobilityLinearDamper damper[MAX_JOINT_AXIS];

      public: SimTK::Force::MobilityLinearStop limitForce[MAX_JOINT_AXIS];

      public: SimTK::MobilizedBody mobod;

      public: bool isReversed;

      public: SimTK::Constraint constraint;

      // Keeps track if simbody physics has been initialized
      public: bool physicsInitialized;

      // Documentation inherited.
      public: virtual void SetUpperLimit(const unsigned int _index,
                                         const double _limit) override;

      // Documentation inherited.
      public: virtual void SetLowerLimit(const unsigned int _index,
                                         const double _limit) override;

      // Documentation inherited.
      public: virtual double UpperLimit(const unsigned int _index) const
            override;

      // Documentation inherited.
      public: virtual double LowerLimit(const unsigned int _index) const
            override;

      protected: SimTK::MultibodySystem *world;

      protected: SimbodyPhysicsPtr simbodyPhysics;

      private: double forceApplied[MAX_JOINT_AXIS];

      private: common::Time forceAppliedTime;
    };
  }
}
#endif