190 lines
5.5 KiB
C++
190 lines
5.5 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** \author Dalibor Matura, Jia Pan */
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#ifndef FCL_ARTICULATED_MODEL_JOINT_CONFIG_H
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#define FCL_ARTICULATED_MODEL_JOINT_CONFIG_H
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#include "fcl/common/data_types.h"
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#include <memory>
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#include <vector>
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namespace fcl
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{
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template <typename S>
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class Joint;
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template <typename S>
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class JointConfig
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{
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public:
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JointConfig();
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JointConfig(const JointConfig& joint_cfg);
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JointConfig(const std::shared_ptr<Joint>& joint,
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S default_value = 0,
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S default_value_min = 0,
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S default_value_max = 0);
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std::size_t getDim() const;
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inline S operator [] (std::size_t i) const
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{
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return values_[i];
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}
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inline S& operator [] (std::size_t i)
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{
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return values_[i];
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}
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S getValue(std::size_t i) const;
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S& getValue(std::size_t i);
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S getLimitMin(std::size_t i) const;
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S& getLimitMin(std::size_t i);
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S getLimitMax(std::size_t i) const;
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S& getLimitMax(std::size_t i);
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std::shared_ptr<Joint> getJoint() const;
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private:
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std::weak_ptr<Joint> joint_;
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std::vector<S> values_;
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std::vector<S> limits_min_;
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std::vector<S> limits_max_;
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};
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//============================================================================//
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// //
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// Implementations //
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// //
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//============================================================================//
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//==============================================================================
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template <typename S>
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JointConfig<S>::JointConfig() {}
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//==============================================================================
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template <typename S>
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JointConfig<S>::JointConfig(const JointConfig& joint_cfg) :
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joint_(joint_cfg.joint_),
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values_(joint_cfg.values_),
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limits_min_(joint_cfg.limits_min_),
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limits_max_(joint_cfg.limits_max_)
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{
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}
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//==============================================================================
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template <typename S>
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JointConfig<S>::JointConfig(const std::shared_ptr<Joint>& joint,
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S default_value,
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S default_value_min,
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S default_value_max) :
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joint_(joint)
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{
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values_.resize(joint->getNumDofs(), default_value);
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limits_min_.resize(joint->getNumDofs(), default_value_min);
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limits_max_.resize(joint->getNumDofs(), default_value_max);
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}
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//==============================================================================
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template <typename S>
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std::size_t JointConfig<S>::getDim() const
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{
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return values_.size();
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}
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//==============================================================================
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template <typename S>
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S JointConfig<S>::getValue(std::size_t i) const
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{
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return values_[i];
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}
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//==============================================================================
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template <typename S>
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S& JointConfig<S>::getValue(std::size_t i)
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{
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return values_[i];
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}
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//==============================================================================
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template <typename S>
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S JointConfig<S>::getLimitMin(std::size_t i) const
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{
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return limits_min_[i];
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}
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//==============================================================================
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template <typename S>
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S& JointConfig<S>::getLimitMin(std::size_t i)
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{
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return limits_min_[i];
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}
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//==============================================================================
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template <typename S>
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S JointConfig<S>::getLimitMax(std::size_t i) const
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{
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return limits_max_[i];
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}
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//==============================================================================
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template <typename S>
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S& JointConfig<S>::getLimitMax(std::size_t i)
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{
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return limits_max_[i];
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}
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//==============================================================================
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template <typename S>
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std::shared_ptr<Joint> JointConfig<S>::getJoint() const
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{
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return joint_.lock();
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}
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} // namespace fcl
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#endif
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