joint.hpp

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// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
 
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
 
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
 
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
 
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
#ifndef KDL_JOINT_HPP
#define KDL_JOINT_HPP
 
#include "frames.hpp"
#include <string>
 
namespace KDL {
 
    class Joint {
    public:
        typedef enum { RotX,RotY,RotZ,TransX,TransY,TransZ,Sphere,Swing,None} JointType;
        Joint(const JointType& type=None,const double& scale=1,const double& offset=0,
              const double& inertia=0,const double& damping=0,const double& stiffness=0);
        Joint(const Joint& in);
 
        Joint& operator=(const Joint& arg);
 
        Frame pose(const double* q)const;
        Twist twist(const double& qdot, int dof=0)const;
 
        const JointType& getType() const
        {
            return type;
        };
 
        const std::string getTypeName() const
        {
            switch (type) {
            case RotX:
                return "RotX";
            case RotY:
                return "RotY";
            case RotZ:
                return "RotZ";
            case TransX:
                return "TransX";
            case TransY:
                return "TransY";
            case TransZ:
                return "TransZ";
            case Sphere:
                return "Sphere";
            case Swing:
                return "Swing";
            case None:
                return "None";
            default:
                return "None";
            }
        };
        unsigned int getNDof() const;
 
        virtual ~Joint();
 
    private:
        Joint::JointType type;
        double scale;
        double offset;
        double inertia;
        double damping;
        double stiffness;
    };
 
} // end of namespace KDL
 
#endif