Link.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: Link class
 * Author: Nate Koenig
 */

#ifndef LINK_HH
#define LINK_HH

#include <map>
#include <vector>

#include "common/Event.hh"
#include "common/CommonTypes.hh"

#include "physics/Entity.hh"
#include "physics/Inertial.hh"
#include "physics/Joint.hh"

namespace gazebo
{
    namespace physics
  {
    class Model;
    class Collision;
  

    class Link : public Entity
    {
      public: Link(EntityPtr parent);
  
      public: virtual ~Link();
  
      public: virtual void Load( sdf::ElementPtr &_sdf );
  
      public: virtual void Init();
  
      public: void Fini();

      public: void Reset();

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

      public: virtual void Update();
  
      public: virtual void SetEnabled(bool enable) const = 0;
  
      public: virtual bool GetEnabled() const = 0;
  
      public: virtual bool SetSelected( bool s );
  
      public: virtual void SetGravityMode(bool mode) = 0;
  
      public: virtual bool GetGravityMode() = 0;
  
  
      public: virtual void SetSelfCollide(bool collide) = 0;
  
      public: void SetCollideMode( const std::string &m );
  
      public: bool GetSelfCollide();
  
      public: void SetLaserRetro(float retro);
  
      public: virtual void SetLinearVel(const math::Vector3 &vel) = 0;
  
      public: virtual void SetAngularVel(const math::Vector3 &vel) = 0;
  
      public: void SetLinearAccel(const math::Vector3 &accel);
  
      public: void SetAngularAccel(const math::Vector3 &accel);
  
      public: virtual void SetForce(const math::Vector3 &_force) = 0;
  
      public: virtual void SetTorque(const math::Vector3 &_force) = 0;

      public: virtual void AddForce(const math::Vector3 &_force) = 0;
  
      public: virtual void AddRelativeForce(const math::Vector3 &_force) = 0;

      public: virtual void AddForceAtRelativePosition(
                  const math::Vector3 &_force,
                  const math::Vector3 &_relpos) = 0;

      public: virtual void AddTorque(const math::Vector3 &_torque) = 0;

      public: virtual void AddRelativeTorque(const math::Vector3 &_torque) = 0;

      public: math::Vector3 GetRelativeLinearVel() const;
  
      public: math::Vector3 GetRelativeAngularVel() const;
  
      public: math::Vector3 GetRelativeLinearAccel() const;
  
      public: math::Vector3 GetWorldLinearAccel() const;
  
      public: math::Vector3 GetRelativeAngularAccel() const;
  
      public: math::Vector3 GetWorldAngularAccel() const;
  
      public: math::Vector3 GetRelativeForce() const;
  
      public: virtual math::Vector3 GetWorldForce() const = 0;
  
      public: math::Vector3 GetRelativeTorque() const;
  
      public: virtual math::Vector3 GetWorldTorque() const = 0;
  
      public: ModelPtr GetModel() const;
  
      public: InertialPtr GetInertial() const { return this->inertial; }
  
      public: void SetInertial(const InertialPtr &_inertial);

      public: virtual void UpdateMass() {}
  
      private: void LoadCollision( sdf::ElementPtr &_sdf );

      public: CollisionPtr GetCollisionById(unsigned int _id) const;

      public: CollisionPtr GetCollision(const std::string &name);
  
      public: virtual math::Box GetBoundingBox() const;
  
      public: virtual void SetLinearDamping(double damping) = 0;
  
      public: virtual void SetAngularDamping(double damping) = 0;
  
      public: virtual void SetKinematic(const bool &) {}
  
      public: virtual bool GetKinematic() const {return false;}

      public: unsigned int GetSensorCount() const;

      public: std::string GetSensorName(unsigned int _i) const;
  
      public: template<typename T>
              event::ConnectionPtr ConnectEnabled( T subscriber )
              { return enabledSignal.Connect(subscriber); }
  
      public: void DisconnectEnabled( event::ConnectionPtr &c )
              { enabledSignal.Disconnect(c); }

      public: void FillLinkMsg( msgs::Link &_msg );

      public: void ProcessMsg(const msgs::Link &_msg);

      public: void AddChildJoint(JointPtr joint);

      public: void AddParentJoint(JointPtr joint);

      public: void AttachStaticModel(ModelPtr &_model,
                                     const math::Pose &_offset);

      public: void DetachStaticModel(const std::string &_modelName);

      public: virtual void OnPoseChange();

      protected: bool isStatic;
  
      protected: InertialPtr inertial;

      protected: std::vector<std::string> cgVisuals;
      protected: std::vector<std::string> visuals;
  
      protected: math::Vector3 linearAccel;
      protected: math::Vector3 angularAccel;
  
      private: event::EventT<void (bool)> enabledSignal;
      private: event::ConnectionPtr showPhysicsConnection; 
  
      private: bool enabled;

      protected: math::Pose newPose;
  
      private: std::vector<std::string> sensors;
      private: std::vector<JointPtr> parentJoints;
      private: std::vector<JointPtr> childJoints;

      private: std::vector<ModelPtr> attachedModels;
      protected: std::vector<math::Pose> attachedModelsOffset;
    };
  }
}
#endif