LinkState.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_LINKSTATE_HH_
#define GAZEBO_PHYSICS_LINKSTATE_HH_

#include <iostream>
#include <vector>
#include <string>

#include <ignition/math/Pose3.hh>
#include <sdf/sdf.hh>

#include "gazebo/physics/State.hh"
#include "gazebo/physics/CollisionState.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

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

      public: LinkState(const LinkPtr _link, const common::Time &_realTime,
                  const common::Time &_simTime, const uint64_t _iterations);

      public: explicit LinkState(const LinkPtr _link);

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

      public: virtual ~LinkState();

      public: void Load(const LinkPtr _link, const common::Time &_realTime,
                  const common::Time &_simTime, const uint64_t _iterations);

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

      public: const math::Pose GetPose() const GAZEBO_DEPRECATED(8.0);

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

      public: const math::Pose GetVelocity() const GAZEBO_DEPRECATED(8.0);

      public: const ignition::math::Pose3d &Velocity() const;

      public: const math::Pose GetAcceleration() const GAZEBO_DEPRECATED(8.0);

      public: const ignition::math::Pose3d &Acceleration() const;

      public: const math::Pose GetWrench() const GAZEBO_DEPRECATED(8.0);

      public: const ignition::math::Pose3d &Wrench() const;

      public: unsigned int GetCollisionStateCount() const;

      public: CollisionState GetCollisionState(unsigned int _index) const;

      public: CollisionState GetCollisionState(
                  const std::string &_collisionName) const;

      public: const std::vector<CollisionState> &GetCollisionStates() const;

      public: bool IsZero() const;

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

      public: virtual void SetWallTime(const common::Time &_time);

      public: virtual void SetRealTime(const common::Time &_time);

      public: virtual void SetSimTime(const common::Time &_time);

      public: virtual void SetIterations(const uint64_t _iterations);

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

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

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

      public: inline friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::physics::LinkState &_state)
      {
        ignition::math::Vector3d euler(_state.pose.Rot().Euler());
        _out.unsetf(std::ios_base::floatfield);
        _out << std::setprecision(4)
          << "<link name='" << _state.name << "'>"
          << "<pose>"
          << ignition::math::precision(_state.pose.Pos().X(), 4) << " "
          << ignition::math::precision(_state.pose.Pos().Y(), 4) << " "
          << ignition::math::precision(_state.pose.Pos().Z(), 4) << " "
          << ignition::math::precision(euler.X(), 4) << " "
          << ignition::math::precision(euler.Y(), 4) << " "
          << ignition::math::precision(euler.Z(), 4) << " "
          << "</pose>";

        if (_state.RecordVelocity())
        {
          euler = _state.velocity.Rot().Euler();
          _out.unsetf(std::ios_base::floatfield);
          _out << std::setprecision(4)
            << "<velocity>"
            << ignition::math::precision(_state.velocity.Pos().X(), 4) << " "
            << ignition::math::precision(_state.velocity.Pos().Y(), 4) << " "
            << ignition::math::precision(_state.velocity.Pos().Z(), 4) << " "
            << ignition::math::precision(euler.X(), 4) << " "
            << ignition::math::precision(euler.Y(), 4) << " "
            << ignition::math::precision(euler.Z(), 4) << " "
            << "</velocity>";
        }
        // << "<acceleration>" << _state.acceleration << "</acceleration>"
        // << "<wrench>" << _state.wrench << "</wrench>";

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

        _out << "</link>";

        return _out;
      }

      public: void SetRecordVelocity(const bool _record);

      public: bool RecordVelocity() const;

      private: ignition::math::Pose3d pose;

      private: ignition::math::Pose3d velocity;

      private: ignition::math::Pose3d acceleration;

      private: ignition::math::Pose3d wrench;

      private: std::vector<CollisionState> collisionStates;
    };
  }
}
#endif