147 lines
4.6 KiB
C++
147 lines
4.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A joint state
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* Author: Nate Koenig
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*/
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#ifndef _JOINTSTATE_HH_
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#define _JOINTSTATE_HH_
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <vector>
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#include <string>
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#include "gazebo/physics/State.hh"
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#include "gazebo/math/Pose.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class JointState JointState.hh physics/physics.hh
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/// \brief keeps track of state of a physics::Joint
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class GZ_PHYSICS_VISIBLE JointState : public State
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{
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/// \brief Default constructor.
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public: JointState();
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/// \brief Constructor.
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/// \param[in] _joint Joint to get the state of.
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/// \param[in] _realTime Real time stamp.
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/// \param[in] _simTime Sim time stamp.
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/// \param[in] _iterations Simulation iterations.
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public: JointState(JointPtr _joint, const common::Time &_realTime,
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const common::Time &_simTime, const uint64_t _iterations);
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/// \brief Constructor.
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/// \param[in] _joint Joint to get the state of.
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public: explicit JointState(JointPtr _joint);
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/// \brief Constructor
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///
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/// Build a JointState from SDF data
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/// \param[in] _sdf SDF data to load a joint state from.
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public: explicit JointState(const sdf::ElementPtr _sdf);
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/// \brief Destructor.
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public: virtual ~JointState();
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/// \brief Load.
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/// \param[in] _joint Joint to get the state of.
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/// \param[in] _realTime Real time stamp.
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/// \param[in] _simTime Sim time stamp.
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public: void Load(JointPtr _joint, const common::Time &_realTime,
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const common::Time &_simTime);
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/// \brief Load state from SDF element.
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/// \param[in] _elem SDf values to load from.
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public: virtual void Load(const sdf::ElementPtr _elem);
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/// \brief Get the number of angles.
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/// \return The number of angles.
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public: unsigned int GetAngleCount() const;
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/// \brief Get the joint angle.
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/// \param[in] _axis The axis index.
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/// \return Angle of the axis.
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/// \throw common::Exception When _axis is invalid.
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public: math::Angle GetAngle(unsigned int _axis) const;
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/// \brief Get the angles.
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/// \return Vector of angles.
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public: const std::vector<math::Angle> &GetAngles() const;
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/// \brief Return true if the values in the state are zero.
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/// \return True if the values in the state are zero.
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public: bool IsZero() const;
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/// \brief Populate a state SDF element with data from the object.
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/// \param[out] _sdf SDF element to populate.
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public: void FillSDF(sdf::ElementPtr _sdf);
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/// \brief Assignment operator
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/// \param[in] _state State value
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/// \return this
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public: JointState &operator=(const JointState &_state);
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/// \brief Subtraction operator.
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/// \param[in] _pt A state to substract.
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/// \return The resulting state.
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public: JointState operator-(const JointState &_state) const;
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/// \brief Addition operator.
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/// \param[in] _pt A state to add.
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/// \return The resulting state.
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public: JointState operator+(const JointState &_state) const;
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/// \brief Stream insertion operator.
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/// \param[in] _out output stream.
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/// \param[in] _state Joint state to output.
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/// \return The stream.
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public: inline friend std::ostream &operator<<(std::ostream &_out,
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const gazebo::physics::JointState &_state)
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{
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_out << "<joint name='" << _state.GetName() << "'>";
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int i = 0;
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for (std::vector<math::Angle>::const_iterator iter =
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_state.angles.begin(); iter != _state.angles.end(); ++iter)
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{
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_out << "<angle axis='" << i << "'>" << (*iter) << "</angle>";
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}
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_out << "</joint>";
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return _out;
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}
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private: std::vector<math::Angle> angles;
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};
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/// \}
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}
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}
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#endif
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