JointAxis.hh

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/*
 * Copyright 2018 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 SDF_JOINTAXIS_HH_
#define SDF_JOINTAXIS_HH_

#include <memory>
#include <string>
#include <ignition/math/Vector3.hh>
#include "sdf/Element.hh"
#include "sdf/Exception.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //

  // Forward declare private data class.
  class JointAxisPrivate;
  struct PoseRelativeToGraph;

  class SDFORMAT_VISIBLE JointAxis
  {
    public: JointAxis();

    public: JointAxis(const JointAxis &_jointAxis);

    public: JointAxis(JointAxis &&_jointAxis) noexcept;

    public: JointAxis &operator=(JointAxis &&_jointAxis);

    public: JointAxis &operator=(const JointAxis &_jointAxis);

    public: ~JointAxis();

    public: Errors Load(ElementPtr _sdf);

    public: double InitialPosition() const;

    public: void SetInitialPosition(const double _pos);

    public: ignition::math::Vector3d Xyz() const;

    public: [[nodiscard]] sdf::Errors SetXyz(
                const ignition::math::Vector3d &_xyz);

    public: double Damping() const;

    public: void SetDamping(const double _damping);

    public: double Friction() const;

    public: void SetFriction(const double _friction);

    public: double SpringReference() const;

    public: void SetSpringReference(const double _spring);

    public: double SpringStiffness() const;

    public: void SetSpringStiffness(const double _spring);

    public: double Lower() const;

    public: void SetLower(const double _lower);

    public: double Upper() const;

    public: void SetUpper(const double _upper) const;

    public: double Effort() const;

    public: void SetEffort(double _effort);

    public: double MaxVelocity() const;

    public: void SetMaxVelocity(const double _velocity) const;

    public: double Stiffness() const;

    public: void SetStiffness(const double _stiffness) const;

    public: double Dissipation() const;

    public: void SetDissipation(const double _dissipation) const;

    public: const std::string& XyzExpressedIn() const;

    public: void SetXyzExpressedIn(const std::string &_frame);

    public: Errors ResolveXyz(
        ignition::math::Vector3d &_xyz,
        const std::string &_resolveTo = "") const;

    public: sdf::ElementPtr Element() const;

    private: void SetXmlParentName(const std::string &_xmlParentName);

    private: void SetPoseRelativeToGraph(
        std::weak_ptr<const PoseRelativeToGraph> _graph);

    friend class Joint;

    private: JointAxisPrivate *dataPtr;
  };
  }
}
#endif