robModifiedHayati.h

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/*

  Author(s): Simon Leonard, Min Yang Jung
  Created on: April 29 2013

  (C) Copyright 2013 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _robModifiedHayati_h
#define _robModifiedHayati_h

#include <iostream>

#include <cisstRobot/robKinematics.h>
#include <cisstRobot/robExport.h>


class CISST_EXPORT robModifiedHayati : public robKinematics {
  
 private:
  
  double  beta;         // rotation y
  double alpha;         // rotation x
  double     a;         // translation x
  double     d;         // translation z
  double theta;         // rotation z

 protected:
  

  void ReadParameters( std::istream& is );
#if CISST_HAS_JSON
  void ReadParameters(const Json::Value &config);
#endif
  

  void WriteParameters( std::ostream& os ) const; 

 public:
  
  robModifiedHayati(void);


  robModifiedHayati(double beta, 
                    double alpha, 
                    double a, 
                    double d,
                    double theta,
                    const robJoint& joint);

  ~robModifiedHayati();
  

  vctFrame4x4<double> ForwardKinematics( double q ) const;


  vctMatrixRotation3<double> Orientation( double q ) const;
  

  vctFixedSizeVector<double,3> PStar(void) const;

  robKinematics* Clone(void) const;

  double GetRotationX(void)    const { return alpha; }
  double GetRotationY(void)    const { return beta;  }
  double GetRotationZ(void)    const { return theta; }
  double GetTranslationX(void) const { return a; }
  double GetTranslationZ(void) const { return d; }
  
  void SetRotationX( double x )    { alpha = x; }
  void SetRotationY( double x )    { beta = x;  }
  void SetRotationZ( double x )    { theta = x; }
  void SetTranslationX( double x ) { a = x; }
  void SetTranslationZ( double x ) { d = x; }
  
  void PrintParams(void) const;
};

#endif