robLink.h

Go to the documentation of this file.

/*
  Author(s): Simon Leonard
  Created on: Nov 11 2009

  (C) Copyright 2008-2014 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( 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;
  robMass        GetMass() const;

  robKinematics::Convention GetConvention() const;

  robJoint::Type 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