JointState.hh
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1 /*
2  * Copyright (C) 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.
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17 #ifndef GAZEBO_PHYSICS_JOINTSTATE_HH_
18 #define GAZEBO_PHYSICS_JOINTSTATE_HH_
19 
20 #ifdef _WIN32
21  // Ensure that Winsock2.h is included before Windows.h, which can get
22  // pulled in by anybody (e.g., Boost).
23  #include <Winsock2.h>
24 #endif
25 
26 #include <vector>
27 #include <string>
28 #include <ignition/math/Angle.hh>
29 
30 #include "gazebo/physics/State.hh"
31 #include "gazebo/util/system.hh"
32 
33 namespace gazebo
34 {
35  namespace physics
36  {
39 
42  class GZ_PHYSICS_VISIBLE JointState : public State
43  {
45  public: JointState();
46 
52  public: JointState(JointPtr _joint, const common::Time &_realTime,
53  const common::Time &_simTime, const uint64_t _iterations);
54 
57  public: explicit JointState(JointPtr _joint);
58 
63  public: explicit JointState(const sdf::ElementPtr _sdf);
64 
66  public: virtual ~JointState();
67 
72  public: void Load(JointPtr _joint, const common::Time &_realTime,
73  const common::Time &_simTime);
74 
77  public: virtual void Load(const sdf::ElementPtr _elem);
78 
81  public: unsigned int GetAngleCount() const;
82 
93  public: double Position(const unsigned int _axis = 0) const;
94 
101  public: const std::vector<double> &Positions() const;
102 
105  public: bool IsZero() const;
106 
109  public: void FillSDF(sdf::ElementPtr _sdf);
110 
114  public: JointState &operator=(const JointState &_state);
115 
119  public: JointState operator-(const JointState &_state) const;
120 
124  public: JointState operator+(const JointState &_state) const;
125 
130  public: inline friend std::ostream &operator<<(std::ostream &_out,
131  const gazebo::physics::JointState &_state)
132  {
133  if (_state.GetAngleCount() > 0)
134  {
135  _out << "<joint name='" << _state.GetName() << "'>";
136 
137  int i = 0;
138  for (std::vector<double>::const_iterator iter =
139  _state.positions.begin(); iter != _state.positions.end(); ++iter)
140  {
141  _out << "<angle axis='" << i << "'>" << (*iter) << "</angle>";
142  i++;
143  }
144 
145  _out << "</joint>";
146  }
147 
148  return _out;
149  }
150 
151  private: std::vector<double> positions;
152  };
154  }
155 }
156 #endif
std::string GetName() const
Get the name associated with this State.
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
State of an entity.
Definition: State.hh:49
friend std::ostream & operator<<(std::ostream &_out, const gazebo::physics::JointState &_state)
Stream insertion operator.
Definition: JointState.hh:130
keeps track of state of a physics::Joint
Definition: JointState.hh:42
unsigned int GetAngleCount() const
Get the number of angles.
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44