joint_config.h

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#ifndef FCL_ARTICULATED_MODEL_JOINT_CONFIG_H
#define FCL_ARTICULATED_MODEL_JOINT_CONFIG_H

#include "fcl/data_types.h"
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <vector>

namespace fcl
{

class Joint;

class JointConfig
{
public:
  JointConfig();

  JointConfig(const JointConfig& joint_cfg);

  JointConfig(const boost::shared_ptr<Joint>& joint,
              FCL_REAL default_value = 0,
              FCL_REAL default_value_min = 0,
              FCL_REAL default_value_max = 0);

  std::size_t getDim() const;

  inline FCL_REAL operator [] (std::size_t i) const
  {
    return values_[i];
  }

  inline FCL_REAL& operator [] (std::size_t i)
  {
    return values_[i];
  }

  FCL_REAL getValue(std::size_t i) const;

  FCL_REAL& getValue(std::size_t i);
  
  FCL_REAL getLimitMin(std::size_t i) const;
  
  FCL_REAL& getLimitMin(std::size_t i);
  
  FCL_REAL getLimitMax(std::size_t i) const;
  
  FCL_REAL& getLimitMax(std::size_t i);
  
  boost::shared_ptr<Joint> getJoint() const;

private:
  boost::weak_ptr<Joint> joint_;
  
  std::vector<FCL_REAL> values_;
  std::vector<FCL_REAL> limits_min_;
  std::vector<FCL_REAL> limits_max_;
};

}



#endif