robLink.h

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/*
  Author(s): Simon Leonard
  Created on: Nov 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 _robLink_h
#define _robLink_h
 
#include <iostream>
 
#include <cisstRobot/robKinematics.h>
#include <cisstRobot/robMass.h>
 
#if CISST_HAS_JSON
#include <json/json.h>
#endif
 
#include <cisstRobot/robExport.h>


class CISST_EXPORT robLink {
 
 protected:
 
  robKinematics* kinematics;
  robMass        mass;
 
 public:
 
  enum Errno { ESUCCESS, EFAILURE };

  robLink();

  robLink( const robLink& link );

  robLink & operator=( const robLink& link );

  robLink( robKinematics* kinematics, const robMass& mass );

  ~robLink();


  robLink::Errno Read( std::istream& is );
 
#if CISST_HAS_JSON
  robLink::Errno Read( const Json::Value & linkConfig );
#endif

  robLink::Errno Write( std::ostream& os ) const;
 
  vctFrame4x4<double> ForwardKinematics( double q ) const;
 
 
  vctFixedSizeVector<double,3> PStar() const;
  vctMatrixRotation3<double> Orientation( double q ) const;
 
  robKinematics* GetKinematics() const;
 
  const robMass & MassData(void) const;
  robMass & MassData(void);
 
  robKinematics::Convention GetConvention() const;
 
  cmnJointType GetType() const;
 
  double Mass() const { return mass.Mass(); }
 
  vctFixedSizeVector<double,3> CenterOfMass() const
  { return mass.CenterOfMass(); }
 
  vctFixedSizeMatrix<double,3,3> MomentOfInertiaAtCOM() const
  { return mass.MomentOfInertiaAtCOM(); }
 
  vctFixedSizeMatrix<double,3,3> MomentOfInertia() const
  { return mass.MomentOfInertia(); }
 
  double PositionMin() const {
    if( kinematics != NULL ) { return kinematics->PositionMin(); }
    return 0.0;
  }
 
  double PositionMax() const {
    if( kinematics != NULL ) { return kinematics->PositionMax(); }
    return 0.0;
  }
 
  double ForceTorqueMax() const {
    if( kinematics != NULL ) { return kinematics->ForceTorqueMax(); }
    return 0.0;
  }
 
};
 
#endif // _robLink_h