robKinematics.h

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#ifndef _robKinematics_h
#define _robKinematics_h

#include <iostream>

#include <cisstVector/vctFrame4x4.h>
#include <cisstVector/vctMatrixRotation3.h>
#include <cisstRobot/robJoint.h>

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

#include <cisstRobot/robExport.h>

class CISST_EXPORT robKinematics : public robJoint {

 public:


  enum Convention
  {
    UNDEFINED,
    STANDARD_DH,
    MODIFIED_DH,
    HAYATI,
    MODIFIED_HAYATI
  };

 private:

  robKinematics::Convention convention;

 protected:

  virtual void ReadParameters( std::istream& is ) = 0;
#if CISST_HAS_JSON
  virtual void ReadParameters(const Json::Value &config) = 0;
#endif

  virtual void WriteParameters( std::ostream& os ) const = 0;

 public:

  robKinematics( robKinematics::Convention convention );

  robKinematics( const robJoint& joint , robKinematics::Convention convention );

  virtual ~robKinematics() {}


  robKinematics::Convention GetConvention() const { return convention; }

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

  robKinematics::Errno Write( std::ostream& os ) const;


  virtual vctFrame4x4<double> ForwardKinematics( double q ) const = 0;


  virtual vctMatrixRotation3<double> Orientation( double q ) const = 0;


  virtual vctFixedSizeVector<double,3> PStar() const = 0;


  virtual robKinematics* Clone() const = 0;


  static robKinematics* Instantiate( const std::string& type );

};

#endif // _robKinematics_h