robJoint.h

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/*
  Author(s): Simon Leonard
  Created on: November 11 2009
 
  (C) Copyright 2008-2024 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>
#include <cisstCommon/cmnJointType.h>
 
#if CISST_HAS_JSON
#include <json/json.h>
#endif
 
#include <cisstRobot/robExport.h>


 
class CISST_EXPORT robJoint {
 
 public:
 
  // for backward compatibility
  typedef cmnJointType Type;
  static const cmnJointType UNDEFINED = CMN_JOINT_UNDEFINED;
  static const cmnJointType HINGE = CMN_JOINT_REVOLUTE;
  static const cmnJointType SLIDER = CMN_JOINT_PRISMATIC;
  static const cmnJointType UNIVERSAL = CMN_JOINT_UNIVERSAL;
  static const cmnJointType BALLSOCKET = CMN_JOINT_BALL_SOCKET;


  enum Mode{
    ACTIVE,
    PASSIVE
  };
 
  enum Errno{
    ESUCCESS,
    EFAILURE
  };
 
private:
 
  std::string name;


  cmnJointType type;


  robJoint::Mode mode;

  double qoffset;

  double qmin;

  double qmax;

  double ftmax;
 
public:

  robJoint();
  robJoint( cmnJointType type,
            robJoint::Mode mode,
            double offset,
            double min,
            double max,
            double ftmax );
 
  // class with virtual methods should have a virtual destructor
  inline virtual ~robJoint() {};
 
  inline const std::string & Name(void) const {
    return name;
  }
  inline std::string & Name(void) {
    return name;
  }


  cmnJointType 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;
  void SetPositionOffset(const double offset);


  const double & PositionMin(void) const;
  double & PositionMin(void);


  const double & PositionMax(void) const;
  double & PositionMax(void);


  const double & ForceTorqueMax(void) const;
  double & ForceTorqueMax(void);


  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