robJoint.h

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/*

  Author(s): Simon Leonard
  Created on: November 11 2009

  (C) Copyright 2008 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 _robJoint_h
#define _robJoint_h

#include <iostream>
#include <cisstConfig.h>

#if CISST_HAS_JSON
#include <json/json.h>
#endif

#include <cisstRobot/robExport.h>


class CISST_EXPORT robJoint {

 public:

  enum Type{ 
    UNDEFINED,   // no clue
    HINGE,       // revolute joint
    SLIDER,      // prismatic joint
    UNIVERSAL,   // universal joint
    BALLSOCKET   // ball and socket joint
  };


  enum Mode{    
    ACTIVE,
    PASSIVE
  };

  enum Errno{
    ESUCCESS,
    EFAILURE
  };

private:


  robJoint::Type type;
  

  robJoint::Mode mode;

  double qoffset;

  double qmin;

  double qmax;

  double ftmax;
  
public:

  robJoint();
  robJoint( robJoint::Type type,
        robJoint::Mode mode,
        double offset,
        double min,
        double max,
        double ftmax );



  robJoint::Type GetType() const;


  robJoint::Mode GetMode() const;


  double GetPosition() const;


  double GetVelocity() const;


  double GetForceTorque() const;


  void SetPosition( double q );


  void SetVelocity( double qd );


  void SetForceTorque( double ft );


  double PositionOffset() const;


  double PositionMin() const;
  

  double PositionMax() const;
  

  double ForceTorqueMax() const;
  

  virtual robJoint::Errno Read( std::istream& is );
#if CISST_HAS_JSON
  virtual robJoint::Errno Read( const Json::Value &config );
#endif


  virtual robJoint::Errno Write( std::ostream& os ) const;

};

#endif