Joint.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_JOINT_HH_
#define GAZEBO_PHYSICS_JOINT_HH_

#include <string>
#include <vector>

#include <boost/any.hpp>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>

#include "gazebo/common/Event.hh"
#include "gazebo/common/Events.hh"
#include "gazebo/msgs/MessageTypes.hh"

#include "gazebo/physics/JointState.hh"
#include "gazebo/physics/Base.hh"
#include "gazebo/physics/JointWrench.hh"
#include "gazebo/util/system.hh"

#define MAX_JOINT_AXIS 2

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE Joint : public Base
    {
      public: enum Attribute
              {
                FUDGE_FACTOR,

                SUSPENSION_ERP,

                SUSPENSION_CFM,

                STOP_ERP,

                STOP_CFM,

                ERP,

                CFM,

                FMAX,

                VEL,

                HI_STOP,

                LO_STOP
              };

      public: explicit Joint(BasePtr _parent);

      public: virtual ~Joint();

      public: void Load(LinkPtr _parent, LinkPtr _child,
                        const ignition::math::Pose3d &_pose);

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

      public: virtual void Init();

      public: virtual void Fini();

      public: void Update();

      public: virtual void UpdateParameters(sdf::ElementPtr _sdf);

      public: virtual void Reset();
      using Base::Reset;

      public: void SetState(const JointState &_state);

      public: void SetModel(ModelPtr _model);

      public: virtual LinkPtr GetJointLink(unsigned int _index) const = 0;

      public: virtual bool AreConnected(LinkPtr _one, LinkPtr _two) const = 0;

      public: virtual void Attach(LinkPtr _parent, LinkPtr _child);

      public: virtual void Detach();

      public: virtual void SetAxis(const unsigned int _index,
                                   const ignition::math::Vector3d &_axis) = 0;

      public: virtual void SetDamping(unsigned int _index, double _damping) = 0;

      public: double GetDamping(unsigned int _index);

      public: virtual void ApplyStiffnessDamping();

      public: virtual void SetStiffnessDamping(unsigned int _index,
        double _stiffness, double _damping, double _reference = 0) = 0;

      public: virtual void SetStiffness(unsigned int _index,
                                        const double _stiffness) = 0;

      public: double GetStiffness(unsigned int _index);

      public: double GetSpringReferencePosition(unsigned int _index) const;

      public: template<typename T>
              event::ConnectionPtr ConnectJointUpdate(T _subscriber)
              {return jointUpdate.Connect(_subscriber);}

      public: ignition::math::Vector3d LocalAxis(const unsigned int _index)
          const;

      public: virtual ignition::math::Vector3d GlobalAxis(
                  unsigned int _index) const = 0;

      public: virtual void SetAnchor(const unsigned int _index,
          const ignition::math::Vector3d &_anchor) = 0;

      public: virtual ignition::math::Vector3d Anchor(
          const unsigned int _index) const = 0;

      public: virtual double GetEffortLimit(unsigned int _index);

      public: virtual void SetEffortLimit(unsigned int _index, double _effort);

      public: virtual double GetVelocityLimit(unsigned int _index);

      public: virtual void SetVelocityLimit(unsigned int _index,
                                                  double _velocity);

      public: virtual void SetVelocity(unsigned int _index, double _vel) = 0;

      public: virtual double GetVelocity(unsigned int _index) const = 0;

      public: virtual void SetForce(unsigned int _index, double _effort) = 0;

      public: double CheckAndTruncateForce(unsigned int _index, double _effort);

      public: virtual double GetForce(unsigned int _index);

      public: virtual JointWrench GetForceTorque(unsigned int _index) = 0;

      public: virtual double Position(const unsigned int _index = 0) const
          final;

      public: virtual unsigned int DOF() const = 0;

      public: virtual bool SetPosition(
                  const unsigned int _index, const double _position,
                  const bool _preserveWorldVelocity = false);

      protected: bool SetPositionMaximal(
                  const unsigned int _index, double _position,
                  const bool _preserveWorldVelocity = false);

      protected: bool SetVelocityMaximal(unsigned int _index, double _velocity);

      public: virtual ignition::math::Vector3d LinkForce(
          const unsigned int _index) const = 0;

      public: virtual ignition::math::Vector3d LinkTorque(
          const unsigned int _index) const = 0;

      public: virtual bool SetParam(const std::string &_key,
                                    unsigned int _index,
                                    const boost::any &_value) = 0;

      public: virtual double GetParam(const std::string &_key,
                                      unsigned int _index);

      public: LinkPtr GetChild() const;

      public: LinkPtr GetParent() const;

      public: msgs::Joint::Type GetMsgType() const;

      public: virtual void FillMsg(msgs::Joint &_msg);

      public: double GetInertiaRatio(const unsigned int _index) const;

      public: double InertiaRatio(const ignition::math::Vector3d &_axis) const;

      public: virtual double LowerLimit(unsigned int _index = 0) const;

      public: virtual double UpperLimit(const unsigned int _index = 0) const;

      public: virtual void SetLowerLimit(const unsigned int _index,
                                         const double _limit);

      public: virtual void SetUpperLimit(const unsigned int _index,
                                         const double _limit);

      public: virtual void SetProvideFeedback(bool _enable);

      public: virtual void CacheForceTorque();

      public: void SetStopStiffness(unsigned int _index, double _stiffness);

      public: void SetStopDissipation(unsigned int _index, double _dissipation);

      public: double GetStopStiffness(unsigned int _index) const;

      public: double GetStopDissipation(unsigned int _index) const;

      public: ignition::math::Pose3d InitialAnchorPose() const;

      public: ignition::math::Pose3d WorldPose() const;

      public: ignition::math::Pose3d ParentWorldPose() const;

      public: ignition::math::Pose3d AnchorErrorPose() const;

      public: ignition::math::Quaterniond AxisFrame(
          const unsigned int _index) const;

      public: ignition::math::Quaterniond AxisFrameOffset(
          const unsigned int _index) const;

      public: double GetWorldEnergyPotentialSpring(unsigned int _index) const;

      protected: virtual double PositionImpl(const unsigned int _index = 0)
          const = 0;

      protected: bool FindAllConnectedLinks(const LinkPtr &_originalParentLink,
        Link_V &_connectedLinks);

      protected: ignition::math::Pose3d ChildLinkPose(
          const unsigned int _index, const double _position);

      protected: virtual void RegisterIntrospectionItems();

      private: void RegisterIntrospectionPosition(const unsigned int _index);

      private: void RegisterIntrospectionVelocity(const unsigned int _index);

      private: void LoadImpl(const ignition::math::Pose3d &_pose);

      protected: LinkPtr childLink;

      protected: LinkPtr parentLink;

      protected: ModelPtr model;

      protected: ignition::math::Vector3d anchorPos;

      protected: ignition::math::Pose3d anchorPose;

      protected: ignition::math::Pose3d parentAnchorPose;

      protected: LinkPtr anchorLink;

      protected: double dissipationCoefficient[MAX_JOINT_AXIS];

      protected: double stiffnessCoefficient[MAX_JOINT_AXIS];

      protected: double springReferencePosition[MAX_JOINT_AXIS];

      protected: gazebo::event::ConnectionPtr applyDamping;

      protected: double effortLimit[MAX_JOINT_AXIS];

      protected: double velocityLimit[MAX_JOINT_AXIS];

      protected: double lowerLimit[MAX_JOINT_AXIS];

      protected: double upperLimit[MAX_JOINT_AXIS];

      protected: JointWrench wrench;

      protected: bool axisParentModelFrame[MAX_JOINT_AXIS];

      private: static sdf::ElementPtr sdfJoint;

      protected: bool provideFeedback;

      private: std::vector<std::string> sensors;

      private: event::EventT<void ()> jointUpdate;

      private: double staticPosition;

      private: double stopStiffness[MAX_JOINT_AXIS];

      private: double stopDissipation[MAX_JOINT_AXIS];
    };
  }
}
#endif