kinfamproperties.hpp

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/******************************************************************************
*                   This file is part of the KDL project                      *
*                                                                             *
*                     (C) 2010 Ruben Smits                                    *
*                         2010 Steven Bellens                                 *
*                     ruben.smits@mech.kuleuven.be                            *
*                     steven.bellens@mech.kuleuven.be                         *
*                    Department of Mechanical Engineering,                    *
*                   Katholieke Universiteit Leuven, Belgium.                  *
*                                                                             *
*       You may redistribute this software and/or modify it under either the  *
*       terms of the GNU Lesser General Public License version 2.1 (LGPLv2.1  *
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/* @Description:
 * @brief KDL typekit for Orocos RTT
 * @Author: Ruben Smits, Steven Bellens
 */

#ifndef JOINTPROPERTIES_HPP
#define JOINTPROPERTIES_HPP

#include <kdl/joint.hpp>
#include <kdl/segment.hpp>
#include <kdl/kinfam_io.hpp>
#include <kdl/jacobian.hpp>
#include <kdl/jntarray.hpp>

#include <rtt/PropertyBag.hpp>

namespace RTT
{
    using namespace KDL;

    void decomposeProperty(const Joint &joint, PropertyBag& target);
    bool composeProperty(const PropertyBag& bag, Joint &joint);

    void decomposeProperty(const Segment &segment, PropertyBag& target);
    bool composeProperty(const PropertyBag& bag, Segment &segment);

    void decomposeProperty(const Chain &chain, PropertyBag& target);
    bool composeProperty(const PropertyBag& bag, Chain &chain);

    void decomposeProperty(const JntArray &jntarray, PropertyBag& target);
    bool composeProperty(const PropertyBag& bag, JntArray &jntarray);

    void decomposeProperty(const Jacobian &jacobian, PropertyBag& target);
    bool composeProperty(const PropertyBag& bag, Jacobian &jacobian);

}
#endif