joint_state.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_ROBOT_STATE_JOINT_STATE_
#define MOVEIT_ROBOT_STATE_JOINT_STATE_

#include <moveit/robot_model/joint_model.h>

namespace robot_state
{

class RobotState;

class JointState
{
  friend class RobotState;
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  JointState(const robot_model::JointModel* jm);

  JointState(const JointState &other);

  ~JointState();

  JointState& operator=(const JointState &other);

  bool setVariableValue(const std::string &variable, double value);

  void setVariableValues(const std::map<std::string, double>& value_map);

  void setVariableValues(const std::map<std::string, double>& value_map, std::vector<std::string>& missing);

  bool setVariableValues(const std::vector<double>& value_vector);

  void setVariableValues(const double *value_vector);

  void setVariableValues(const Eigen::Affine3d& transform);

  void updateMimicJoints();

  bool allVariablesAreDefined(const std::map<std::string, double>& value_map) const;

  bool satisfiesBounds(double margin = 0.0) const
  {
    return joint_model_->satisfiesBounds(joint_state_values_, margin);
  }

  void enforceBounds();

  double distance(const JointState *other) const
  {
    return joint_model_->distance(joint_state_values_, other->joint_state_values_);
  }

  void interpolate(const JointState *to, const double t, JointState *dest) const;

  const std::string& getName() const
  {
    return joint_model_->getName();
  }

  robot_model::JointModel::JointType getType() const
  {
    return joint_model_->getType();
  }

  unsigned int getVariableCount() const
  {
    return joint_model_->getVariableCount();
  }

  const std::vector<double>& getVariableValues() const
  {
    return joint_state_values_;
  }

  std::vector<double>& getVariableValues()
  {
    return joint_state_values_;
  }

  const std::vector<std::string>& getVariableNames() const
  {
    return joint_model_->getVariableNames();
  }

  const std::vector<std::pair<double, double> > &getVariableBounds() const
  {
    return joint_model_->getVariableBounds();
  }

  const Eigen::Affine3d& getVariableTransform() const
  {
    return variable_transform_;
  }

  Eigen::Affine3d& getVariableTransform()
  {
    return variable_transform_;
  }

  const robot_model::JointModel* getJointModel() const
  {
    return joint_model_;
  }

  const std::map<std::string, unsigned int>& getVariableIndexMap() const
  {
    return joint_model_->getVariableIndexMap();
  }

  std::vector<double>& getVelocities()
  {
    return horrible_velocity_placeholder_;
  }

  std::vector<double>& getAccelerations()
  {
    return horrible_acceleration_placeholder_;
  }

  const std::vector<double>& getVelocities() const
  {
    return horrible_velocity_placeholder_;
  }

  const std::vector<double>& getAccelerations() const
  {
    return horrible_acceleration_placeholder_;
  }

private:

  const robot_model::JointModel      *joint_model_;

  Eigen::Affine3d                     variable_transform_;

  std::vector<double>                 joint_state_values_;

  std::vector<double>                 horrible_velocity_placeholder_;

  std::vector<double>                 horrible_acceleration_placeholder_;

  std::vector<JointState*>            mimic_requests_;
};

}
#endif