Joint.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_JOINT_HH_
#define SDF_JOINT_HH_

#include <memory>
#include <string>
#include <ignition/math/Pose3.hh>
#include <ignition/utils/ImplPtr.hh>
#include "sdf/Element.hh"
#include "sdf/SemanticPose.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 declarations.
  class JointAxis;
  struct FrameAttachedToGraph;
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;
  class Sensor;

  enum class JointType
  {
    INVALID = 0,

    BALL = 1,

    CONTINUOUS = 2,

    FIXED = 3,

    GEARBOX = 4,

    PRISMATIC = 5,

    REVOLUTE = 6,

    REVOLUTE2 = 7,

    SCREW = 8,

    UNIVERSAL = 9
  };

  class SDFORMAT_VISIBLE Joint
  {
    public: Joint();

    public: Errors Load(ElementPtr _sdf);

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

    public: void SetName(const std::string &_name);

    public: JointType Type() const;

    public: void SetType(const JointType _jointType);

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

    public: void SetParentLinkName(const std::string &_name);

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

    public: void SetChildLinkName(const std::string &_name);

    public: Errors ResolveChildLink(std::string &_link) const;

    public: Errors ResolveParentLink(std::string &_link) const;

    public: const JointAxis *Axis(const unsigned int _index = 0) const;

    public: void SetAxis(const unsigned int _index, const JointAxis &_axis);

    public: const ignition::math::Pose3d &RawPose() const;

    public: void SetRawPose(const ignition::math::Pose3d &_pose);

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

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

    public: double ThreadPitch() const;

    public: void SetThreadPitch(double _threadPitch);

    public: sdf::ElementPtr Element() const;

    public: sdf::SemanticPose SemanticPose() const;

    public: uint64_t SensorCount() const;

    public: const Sensor *SensorByIndex(const uint64_t _index) const;

    public: bool SensorNameExists(const std::string &_name) const;

    public: const Sensor *SensorByName(const std::string &_name) const;

    private: void SetFrameAttachedToGraph(
        sdf::ScopedGraph<FrameAttachedToGraph> _graph);

    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);

    friend class Model;

    IGN_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif