joints.h

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#ifndef _XPP_STATES_JOINTS_H_
#define _XPP_STATES_JOINTS_H_
 
#include <vector>
#include <Eigen/Dense>
 
#include <xpp_states/endeffectors.h>
 
namespace xpp {
 
class Joints : public Endeffectors<VectorXd> {
public:
  using Base = Endeffectors<VectorXd>;
  using Base::GetEECount;
  using Base::at;
  using EEOrder = std::vector<EndeffectorID>;
  using JointID = uint;
 
  explicit Joints (int n_ee, int n_joints_per_ee, double value = 0.0);
 
  explicit Joints (const std::vector<VectorXd>& joints);
  virtual ~Joints () = default;
 
  VectorXd ToVec() const;
 
  VectorXd ToVec(const EEOrder& ee_order) const;
 
  void SetFromVec(const VectorXd& q);
 
  void SetFromVec(const VectorXd& q, const EEOrder& ee_order);
 
  double& GetJoint(JointID joint);
 
  double GetJoint(JointID joint) const;
 
  int GetNumJoints() const;
  int GetNumJointsPerEE() const;
 
private:
  int n_joints_per_leg_;
  int n_joints_;
};
 
} /* namespace xpp */
 
#endif /* _XPP_STATES_JOINTS_H_ */