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protot/3rdparty/fcl/.deprecated/articulated_model/joint.h

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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** \author Dalibor Matura, Jia Pan */
#ifndef FCL_ARTICULATED_MODEL_JOINT_H
#define FCL_ARTICULATED_MODEL_JOINT_H
#include "fcl/common/data_types.h"
#include <string>
#include <vector>
#include <map>
#include <limits>
#include <memory>
namespace fcl
{
class JointConfig;
class Link;
enum JointType {JT_UNKNOWN, JT_PRISMATIC, JT_REVOLUTE, JT_BALLEULER};
/// @brief Base Joint
template <typename S>
class Joint
{
public:
Joint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3<S>& transform_to_parent,
const std::string& name);
Joint(const std::string& name);
virtual ~Joint() {}
const std::string& getName() const;
void setName(const std::string& name);
virtual Transform3<S> getLocalTransform() const = 0;
virtual std::size_t getNumDofs() const = 0;
std::shared_ptr<JointConfig> getJointConfig() const;
void setJointConfig(const std::shared_ptr<JointConfig>& joint_cfg);
std::shared_ptr<Link> getParentLink() const;
std::shared_ptr<Link> getChildLink() const;
void setParentLink(const std::shared_ptr<Link>& link);
void setChildLink(const std::shared_ptr<Link>& link);
JointType getJointType() const;
const Transform3<S>& getTransformToParent() const;
void setTransformToParent(const Transform3<S>& t);
protected:
/// links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency
std::weak_ptr<Link> link_parent_, link_child_;
JointType type_;
std::string name_;
std::shared_ptr<JointConfig> joint_cfg_;
Transform3<S> transform_to_parent_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
template <typename S>
class PrismaticJoint : public Joint
{
public:
PrismaticJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3<S>& transform_to_parent,
const std::string& name,
const Vector3<S>& axis);
virtual ~PrismaticJoint() {}
Transform3<S> getLocalTransform() const;
std::size_t getNumDofs() const;
const Vector3<S>& getAxis() const;
protected:
Vector3<S> axis_;
};
template <typename S>
class RevoluteJoint : public Joint
{
public:
RevoluteJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3<S>& transform_to_parent,
const std::string& name,
const Vector3<S>& axis);
virtual ~RevoluteJoint() {}
Transform3<S> getLocalTransform() const;
std::size_t getNumDofs() const;
const Vector3<S>& getAxis() const;
protected:
Vector3<S> axis_;
};
template <typename S>
class BallEulerJoint : public Joint
{
public:
BallEulerJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3<S>& transform_to_parent,
const std::string& name);
virtual ~BallEulerJoint() {}
std::size_t getNumDofs() const;
Transform3<S> getLocalTransform() const;
};
//============================================================================//
// //
// Implementations //
// //
//============================================================================//
//==============================================================================
template <typename S>
Joint<S>::Joint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3<S>& transform_to_parent,
const std::string& name) :
link_parent_(link_parent), link_child_(link_child),
name_(name),
transform_to_parent_(transform_to_parent)
{}
//==============================================================================
template <typename S>
Joint<S>::Joint(const std::string& name) :
name_(name)
{
}
//==============================================================================
template <typename S>
const std::string& Joint<S>::getName() const
{
return name_;
}
//==============================================================================
template <typename S>
void Joint<S>::setName(const std::string& name)
{
name_ = name;
}
//==============================================================================
template <typename S>
std::shared_ptr<JointConfig> Joint<S>::getJointConfig() const
{
return joint_cfg_;
}
//==============================================================================
template <typename S>
void Joint<S>::setJointConfig(const std::shared_ptr<JointConfig>& joint_cfg)
{
joint_cfg_ = joint_cfg;
}
//==============================================================================
template <typename S>
std::shared_ptr<Link> Joint<S>::getParentLink() const
{
return link_parent_.lock();
}
//==============================================================================
template <typename S>
std::shared_ptr<Link> Joint<S>::getChildLink() const
{
return link_child_.lock();
}
//==============================================================================
template <typename S>
void Joint<S>::setParentLink(const std::shared_ptr<Link>& link)
{
link_parent_ = link;
}
//==============================================================================
template <typename S>
void Joint<S>::setChildLink(const std::shared_ptr<Link>& link)
{
link_child_ = link;
}
//==============================================================================
template <typename S>
JointType Joint<S>::getJointType() const
{
return type_;
}
//==============================================================================
template <typename S>
const Transform3<S>& Joint<S>::getTransformToParent() const
{
return transform_to_parent_;
}
//==============================================================================
template <typename S>
void Joint<S>::setTransformToParent(const Transform3<S>& t)
{
transform_to_parent_ = t;
}
//==============================================================================
template <typename S>
PrismaticJoint<S>::PrismaticJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3<S>& transform_to_parent,
const std::string& name,
const Vector3<S>& axis) :
Joint(link_parent, link_child, transform_to_parent, name),
axis_(axis)
{
type_ = JT_PRISMATIC;
}
//==============================================================================
template <typename S>
const Vector3<S>& PrismaticJoint<S>::getAxis() const
{
return axis_;
}
//==============================================================================
template <typename S>
std::size_t PrismaticJoint<S>::getNumDofs() const
{
return 1;
}
//==============================================================================
template <typename S>
Transform3<S> PrismaticJoint<S>::getLocalTransform() const
{
const Quaternion<S> quat(transform_to_parent_.linear());
const Vector3<S>& transl = transform_to_parent_.translation();
Transform3<S> tf = Transform3<S>::Identity();
tf.linear() = quat.toRotationMatrix();
tf.translation() = quat * (axis_ * (*joint_cfg_)[0]) + transl;
return tf;
}
//==============================================================================
template <typename S>
RevoluteJoint<S>::RevoluteJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3<S>& transform_to_parent,
const std::string& name,
const Vector3<S>& axis) :
Joint(link_parent, link_child, transform_to_parent, name),
axis_(axis)
{
type_ = JT_REVOLUTE;
}
//==============================================================================
template <typename S>
const Vector3<S>& RevoluteJoint<S>::getAxis() const
{
return axis_;
}
//==============================================================================
template <typename S>
std::size_t RevoluteJoint<S>::getNumDofs() const
{
return 1;
}
//==============================================================================
template <typename S>
Transform3<S> RevoluteJoint<S>::getLocalTransform() const
{
Transform3<S> tf = Transform3<S>::Identity();
tf.linear() = transform_to_parent_.linear() * AngleAxis<S>((*joint_cfg_)[0], axis_);
tf.translation() = transform_to_parent_.translation();
return tf;
}
//==============================================================================
template <typename S>
BallEulerJoint<S>::BallEulerJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3<S>& transform_to_parent,
const std::string& name) :
Joint(link_parent, link_child, transform_to_parent, name)
{}
//==============================================================================
template <typename S>
std::size_t BallEulerJoint<S>::getNumDofs() const
{
return 3;
}
//==============================================================================
template <typename S>
Transform3<S> BallEulerJoint<S>::getLocalTransform() const
{
Matrix3<S> rot(
AngleAxis<S>((*joint_cfg_)[0], Eigen::Vector3<S>::UnitX())
* AngleAxis<S>((*joint_cfg_)[1], Eigen::Vector3<S>::UnitY())
* AngleAxis<S>((*joint_cfg_)[2], Eigen::Vector3<S>::UnitZ()));
Transform3<S> tf = Transform3<S>::Identity();
tf.linear() = rot;
return transform_to_parent_ * tf;
}
} // namespace fcl
#endif
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