LinkState.hh

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/*
 * Copyright 2011 Nate Koenig
 *
 * 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.
 *
*/
/* Desc: A link state
 * Author: Nate Koenig
 */

#ifndef _LINK_STATE_HH_
#define _LINK_STATE_HH_

#include <vector>
#include <string>
#include <list>

#include "sdf/sdf.hh"
#include "physics/State.hh"
#include "physics/CollisionState.hh"
#include "math/Pose.hh"

namespace gazebo
{
  namespace physics
  {

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

      public: explicit LinkState(const LinkPtr _link);

      public: virtual ~LinkState();

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

      public: math::Pose GetPose() const;

      public: math::Pose GetVelocity() const;

      public: math::Pose GetAcceleration() const;

      public: std::list<math::Pose> GetForces() const;

      public: unsigned int GetCollisionStateCount() const;

      public: CollisionState GetCollisionState(unsigned int _index) const;

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

      public: void FillStateSDF(sdf::ElementPtr _elem);

      public: void UpdateLinkSDF(sdf::ElementPtr _elem);

      private: math::Pose pose;

      private: math::Pose velocity;

      private: math::Pose acceleration;

      private: std::vector<math::Pose> forces;

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