joint.h

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/*
 *
 */
#ifndef JOINT_H
#define JOINT_H

#include <tinyxml.h>
#include <urdf_model/joint.h>


namespace pr2_mechanism_model {

class JointState;

class JointStatistics
{
 public:
  JointStatistics():odometer_(0.0), min_position_(0), max_position_(0),
                    max_abs_velocity_(0.0), max_abs_effort_(0.0),
                    violated_limits_(false), initialized_(false){}

  void update(JointState* s);
  void reset();

  double odometer_;
  double min_position_, max_position_;
  double max_abs_velocity_;
  double max_abs_effort_;
  bool violated_limits_;

 private:
  bool initialized_;
  double old_position_;
};



class JointState
{
public:
  void enforceLimits();

  void getLimits(double &effort_low, double &effort_high);

#if URDFDOM_1_0_0_API
  urdf::JointConstSharedPtr joint_;
#else
  boost::shared_ptr<const urdf::Joint> joint_;
#endif

  double position_;

  double velocity_;

  double measured_effort_;

  // joint statistics
  JointStatistics joint_statistics_;

  double commanded_effort_;

  bool calibrated_;

  double reference_position_;

  JointState() : position_(0.0), velocity_(0.0), measured_effort_(0.0),
    commanded_effort_(0.0), calibrated_(false), reference_position_(0.0){}
};

enum
{
  JOINT_NONE,
  JOINT_ROTARY,
  JOINT_CONTINUOUS,
  JOINT_PRISMATIC,
  JOINT_FIXED,
  JOINT_PLANAR,
  JOINT_TYPES_MAX
};


}

#endif /* JOINT_H */