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JointState.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A joint state
18  * Author: Nate Koenig
19  */
20 
21 #ifndef _JOINTSTATE_HH_
22 #define _JOINTSTATE_HH_
23 
24 #include <vector>
25 #include <string>
26 
27 #include "gazebo/physics/State.hh"
28 #include "gazebo/math/Pose.hh"
29 
30 namespace gazebo
31 {
32  namespace physics
33  {
36 
39  class JointState : public State
40  {
42  public: JointState();
43 
48  public: JointState(JointPtr _joint, const common::Time &_realTime,
49  const common::Time &_simTime);
50 
53  public: explicit JointState(JointPtr _joint);
54 
59  public: explicit JointState(const sdf::ElementPtr _sdf);
60 
62  public: virtual ~JointState();
63 
68  public: void Load(JointPtr _joint, const common::Time &_realTime,
69  const common::Time &_simTime);
70 
73  public: virtual void Load(const sdf::ElementPtr _elem);
74 
77  public: unsigned int GetAngleCount() const;
78 
83  public: math::Angle GetAngle(unsigned int _axis) const;
84 
87  public: const std::vector<math::Angle> &GetAngles() const;
88 
91  public: bool IsZero() const;
92 
95  public: void FillSDF(sdf::ElementPtr _sdf);
96 
100  public: JointState &operator=(const JointState &_state);
101 
105  public: JointState operator-(const JointState &_state) const;
106 
110  public: JointState operator+(const JointState &_state) const;
111 
116  public: inline friend std::ostream &operator<<(std::ostream &_out,
117  const gazebo::physics::JointState &_state)
118  {
119  _out << "<joint name='" << _state.GetName() << "'>";
120 
121  int i = 0;
122  for (std::vector<math::Angle>::const_iterator iter =
123  _state.angles.begin(); iter != _state.angles.end(); ++iter)
124  {
125  _out << "<angle axis='" << i << "'>" << (*iter) << "</angle>";
126  }
127 
128  _out << "</joint>";
129 
130  return _out;
131  }
132 
133  private: std::vector<math::Angle> angles;
134  };
136  }
137 }
138 #endif