Joint.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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.
 *
*/
/* Desc: The base joint class
 * Author: Nate Keonig, Andrew Howard
 * Date: 21 May 2003
 */

#ifndef JOINT_HH
#define JOINT_HH

#include "common/Event.hh"
#include "math/Angle.hh"
#include "math/Vector3.hh"
#include "transport/TransportTypes.hh"
#include "msgs/MessageTypes.hh"

#include "physics/Base.hh"

namespace gazebo
{
    namespace physics
  {

    class 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: Joint();
  
      public: virtual ~Joint();
  
      public: virtual void Load( sdf::ElementPtr &_sdf );

      public: virtual void Init();
  
      public: void Update();
  
      public: virtual void UpdateParameters( sdf::ElementPtr &_sdf );

      public: void ShowJoints(const bool &s);
  
      public: virtual void Reset();
  
      public: void SetModel(ModelPtr model);
  
      public: virtual LinkPtr GetJointLink( 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() = 0;
  
      public: virtual void SetAxis(int index, const math::Vector3 &axis) = 0;
  
      public: virtual void SetDamping(int index, const double damping) = 0;
  
      public: template<typename T>
              event::ConnectionPtr ConnectJointUpdate(T subscriber)
              { return jointUpdate.Connect(subscriber); }
      public: void DisconnectJointUpdate( event::ConnectionPtr &c )
              { jointUpdate.Disconnect(c); }
  
      public: math::Vector3 GetLocalAxis(int _index) const;
      public: virtual math::Vector3 GetGlobalAxis(int _index) const = 0;
  
      public: virtual void SetAnchor( int index, const math::Vector3 &anchor ) = 0;
  
      public: virtual math::Vector3 GetAnchor(int index) const = 0;
  
      public: virtual void SetHighStop(int index, math::Angle angle) = 0;
  
      public: virtual void SetLowStop(int index, math::Angle angle) = 0;
   
      public: virtual math::Angle GetHighStop(int index) = 0;
  
      public: virtual math::Angle GetLowStop(int index) = 0;
  
      public: virtual void SetVelocity(int index, double v) = 0;
  
      public: virtual double GetVelocity(int index) const = 0;
  
      public: virtual void SetForce(int /*index*/, double /*f*/) {}
  
      public: virtual double GetForce(int /*index*/) {return 0;}
   
      public: virtual void SetMaxForce(int index, double t) = 0;
  
      public: virtual double GetMaxForce(int index) = 0;
  
      public: math::Angle GetAngle(int index) const;

      public: void SetAngle(int _index, math::Angle _angle);
  
      public: virtual math::Vector3 GetLinkForce(unsigned int index) const = 0;
  
      public: virtual math::Vector3 GetLinkTorque(unsigned int index) const = 0;
  
      public: virtual void SetAttribute( Attribute, int index, double value) = 0;

      public: LinkPtr GetChild() const;

      public: LinkPtr GetParent() const;

      public: void FillJointMsg( msgs::Joint &_msg );

      protected: virtual math::Angle GetAngleImpl(int _index) const = 0;

      protected: LinkPtr childLink;
  
      protected: LinkPtr parentLink;
  
      protected: std::string visual;
      protected: std::string line1;
      protected: std::string line2;
      protected: bool showJoints;
  
      protected: ModelPtr model;
  
      protected: math::Vector3 anchorPos;
      protected: LinkPtr anchorLink;
  
      private: event::EventT<void ()> jointUpdate;
      private: event::ConnectionPtr showJointsConnection;
  
      // joint damping_coefficient
      protected: double damping_coefficient;
      protected: transport::PublisherPtr vis_pub;
      private: math::Angle staticAngle;
    };
  }
}
#endif