JointController.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_JOINTCONTROLLER_HH_
#define _GAZEBO_JOINTCONTROLLER_HH_

#include <map>
#include <string>
#include <vector>
#include <ignition/msgs.hh>

#include "gazebo/common/PID.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    // Forward declare private data values.
    class JointControllerPrivate;


    class GZ_PHYSICS_VISIBLE JointController
    {
      public: explicit JointController(ModelPtr _model);

      public: virtual ~JointController();

      public: void AddJoint(JointPtr _joint);

      public: void RemoveJoint(Joint *_joint);

      public: void Update();

      public: void Reset();

      public: void SetJointPosition(
        const std::string &_name, double _position, int _index = 0);

      public: void SetJointPositions(
                  const std::map<std::string, double> &_jointPositions);

      public: common::Time GetLastUpdateTime() const;

      public: std::map<std::string, JointPtr> GetJoints() const;

      public: void SetPositionPID(const std::string &_jointName,
                  const common::PID &_pid);

      public: bool SetPositionTarget(const std::string &_jointName,
                  double _target);

      public: void SetVelocityPID(const std::string &_jointName,
                  const common::PID &_pid);

      public: bool SetVelocityTarget(const std::string &_jointName,
                  double _target);

      public: std::map<std::string, common::PID> GetPositionPIDs() const;

      public: std::map<std::string, common::PID> GetVelocityPIDs() const;

      public: std::map<std::string, double> GetForces() const;

      public: std::map<std::string, double> GetPositions() const;

      public: std::map<std::string, double> GetVelocities() const;

      private: bool OnJointCmdReq(const ignition::msgs::StringMsg &_req,
          ignition::msgs::JointCmd &_rep);

      private: void OnJointCommand(const ignition::msgs::JointCmd &_msg);

      private: void OnJointCmd(ConstJointCmdPtr &_msg);

      public: void SetJointPosition(
        JointPtr _joint, double _position, int _index = 0);

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