prototype_joint_entity.h

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#ifndef PROTOTYPE_JOINT_ENTITY_H
#define PROTOTYPE_JOINT_ENTITY_H
 
namespace argos {
   class CPrototypeLinkEntity;
   class CPrototypeJointEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/core/utility/math/quaternion.h>
#include <argos3/core/utility/math/vector3.h>
 
namespace argos {
 
   class CPrototypeJointEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
      using TVector = std::vector<CPrototypeJointEntity*>;
      using TVectorIterator = std::vector<CPrototypeJointEntity*>::iterator;
      using TVectorConstIterator = std::vector<CPrototypeJointEntity*>::const_iterator;
 
   public:
      enum class EType {
         FIXED,
         PRISMATIC,
         REVOLUTE,
         SPHERICAL,
         PLANAR,
      };
 
      union ULimit {
         ULimit() {}
         CRange<Real> Prismatic;
         CRange<CRadians> Revolute;
      };
 
      struct SActuator {
         enum class EMode {
            DISABLED,
            POSITION,
            VELOCITY,
         };
         Real Target = 0.0f;
         Real MaxImpulse = 0.0f;
         EMode Mode = EMode::DISABLED;
      };
 
      struct SSensor {
         enum class EMode {
            DISABLED,
            POSITION,
            VELOCITY,
         };
         Real Value = 0.0f;
         EMode Mode = EMode::DISABLED;
      };
 
   public:
 
      CPrototypeJointEntity(CComposableEntity* pc_parent);
 
      virtual ~CPrototypeJointEntity() {}
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual std::string GetTypeDescription() const {
         return "joint";
      }
 
      inline CPrototypeLinkEntity& GetParentLink() {
         return *m_pcParentLink;
      }
 
      inline const CPrototypeLinkEntity& GetParentLink() const {
         return *m_pcParentLink;
      }
 
      inline const CVector3& GetParentLinkJointPosition() const {
         return m_cParentLinkJointPosition;
      }
 
      inline const CQuaternion& GetParentLinkJointOrientation() const {
         return m_cParentLinkJointOrientation;
      }
 
      inline CPrototypeLinkEntity& GetChildLink() {
         return *m_pcChildLink;
      }
 
      inline const CPrototypeLinkEntity& GetChildLink() const {
         return *m_pcChildLink;
      }
 
      inline const CVector3& GetChildLinkJointPosition() const {
         return m_cChildLinkJointPosition;
      }
 
      inline const CQuaternion& GetChildLinkJointOrientation() const {
         return m_cChildLinkJointOrientation;
      }
 
      inline bool GetDisableCollision() const {
         return m_bDisableCollision;
      }
 
      inline EType GetType() const {
         return m_eType;
      }
 
      inline const CVector3& GetJointAxis() const {
         return m_cJointAxis;
      }
 
      bool HasLimit() {
         return m_bHasLimit;
      }
 
      const ULimit& GetLimit() const {
         ARGOS_ASSERT(m_bHasLimit == true,
                   "CPrototypeJointEntity::GetLimit(), id=\"" <<
                   GetId() <<
                   "\": joint was not initialized with a limit");
         return m_uLimit;
      }
 
      SSensor& GetSensor() {
         return m_cSensor;
      }
 
      SActuator& GetActuator() {
         return m_cActuator;
      }
 
   private:
 
      CPrototypeLinkEntity* m_pcParentLink;
      CVector3 m_cParentLinkJointPosition;
      CQuaternion m_cParentLinkJointOrientation;
 
      CPrototypeLinkEntity* m_pcChildLink;
      CVector3 m_cChildLinkJointPosition;
      CQuaternion m_cChildLinkJointOrientation;
 
      bool m_bDisableCollision;
      EType m_eType;
      CVector3 m_cJointAxis;
      bool m_bHasLimit;
      ULimit m_uLimit;
      SSensor m_cSensor;
      SActuator m_cActuator;
   };
 
}
 
#endif