robDH.h

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/*

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

  (C) Copyright 2009 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 _robDH_h
#define _robDH_h

#include <iostream>

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


class CISST_EXPORT robDH : public robKinematics {
  
 private:
  
  double alpha;
  double     a;            // x components
  double theta;
  double     d;            // z components

 protected:
  

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

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

 public:
  
  robDH();


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

  ~robDH();
  

  vctFrame4x4<double> ForwardKinematics( double q ) const;


  vctMatrixRotation3<double> Orientation( double q ) const;
  

  vctFixedSizeVector<double,3> PStar() const;

  robKinematics* Clone() const;

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

#endif