joint.h

Go to the documentation of this file.

#ifndef INCLUDE_TINYURDF_CORE_JOINT_H_
#define INCLUDE_TINYURDF_CORE_JOINT_H_
 
// Copyright 2025 Wissem CHIHA
 
#include <loguru/loguru.hpp>
#include <memory>
#include <string>
#include <vector>
 
#include "common/object_base.h"
#include "core/joint_calibration.h"
#include "core/joint_dynamics.h"
#include "core/joint_limits.h"
#include "core/joint_mimic.h"
#include "core/joint_safety.h"
#include "core/pose.h"
#include "utility/utils.h"
 
class Joint : public ObjectBase
{
 public:
  enum class Type
  {
    UNKNOWN,
    REVOLUTE,
    CONTINUOUS,
    PRISMATIC,
    FLOATING,
    PLANAR,
    FIXED,
    UNIVERSAL
  };
  Joint();
  Joint(const Joint& rhs);
  Joint(Joint&& rhs) noexcept;
  void clear() override;
  bool isA(const char* name) const override;
  std::string toString() const override;
  bool empty() const override;
  const char* getTypename() const override;
  void setDynamics(const std::shared_ptr<JointDynamics> d);
  void setLimits(const std::shared_ptr<JointLimits> l);
  void setSafety(const std::shared_ptr<JointSafety> s);
  void setCalibration(const std::shared_ptr<JointCalibration> c);
  void setMimic(const std::shared_ptr<JointMimic> m);
  void setName(const std::string& name_);
  void setType(const Type& t_);
  void setType(const char* c_);
  void setAxis(double x, double y, double z);
  std::string getName() const;
  void pushBackChild(const std::string lk);
  void pushBackParent(const std::string lk);
  void pushBackTransform(const std::shared_ptr<Pose> t);
  bool isChild(const char* name) const;
  bool isParent(const char* name) const;
  std::vector<std::shared_ptr<Pose>> getTransform() const;
  std::vector<std::string> getChild() const;
  std::vector<std::string> getParent() const;
  Vec3 getAxis() const;
 
 private:
  Type type;
  std::string name;
  Vec3 axis;
  std::vector<std::string> child;
  std::vector<std::string> parent;
  std::vector<std::shared_ptr<Pose>> transform;
  std::shared_ptr<JointDynamics> dynamics;
  std::shared_ptr<JointLimits> limits;
  std::shared_ptr<JointSafety> safety;
  std::shared_ptr<JointCalibration> calibration;
  std::shared_ptr<JointMimic> mimic;
};
#endif  // INCLUDE_TINYURDF_CORE_JOINT_H