Joint.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#ifndef _Joint_H
#define _Joint_H
 
/*******************************************************************************
 *  includes & SWIG support                                                    *
 *******************************************************************************/
 
#include <math.h>
#include <string.h>
#include <iostream>
#include <vector>
#include <stdlib.h>
#include <cstdio>
#include <stdexcept>  // stdexcept header file contains runtime_error
#include <limits>
 
/*******************************************************************************
 *  defines:                                                                   *
 *******************************************************************************/
 
/* if length(Joint1 - Joint2) < JOINT_EPSILON, they are considered equal: */
#ifndef JOINT_EPSILON
#define JOINT_EPSILON .01 / 360.0
#endif
 
//#define PI 3.141592654
#define DEGS_PER_RAD 57.29577951
#define RADS_PER_DEG 0.017453292
 
/* if for some reason (faster performance) you want this class to not perform
   rangechecking, define JOINT_NO_RANGECHECK in your config or makefile!       */
 
// #define JOINT_NO_RANGECHECK
 
/*******************************************************************************
 *  Exception class (definition & implementation)                              *
 *******************************************************************************/
 
/* In addition to the standard runtime class, this one takes file and Line number arguments. */
class Joint_Exception : public std::runtime_error
{
public:
  Joint_Exception(const char* _file, int _line, const char* _msg) : std::runtime_error(_msg), file(_file), line(_line)
  {
    msg = _msg;
  }
  const char* getFile() const
  {
    return file;
  }
  int getLine() const
  {
    return line;
  }
  const char* getMsg() const
  {
    return msg;
  }
 
private:
  const char* file;
  int line;
  const char* msg;
};
 
/* operator<< so you can use an exception e like: "cout << e" */
inline std::ostream& operator<<(std::ostream& _os, const Joint_Exception& e)
{
  _os << "Error in " << e.getFile();
  _os << " at line " << e.getLine() << ":" << std::endl;
  _os << " " << e.getMsg() << std::endl;
  return _os;
}
 
/*******************************************************************************
 *  class definition of template class Joint                                   *
 *******************************************************************************/
 
template <class Real>
class Joint
{
public:
  /* constructors: */
 
  /* empty Joint, no elements: */
  Joint();
  /* joint of size NrJoints, zero=false: uninitialized, zero=true -> all elements zero: */
  Joint(unsigned int NrJoints, bool zero = false);
  /* copy constructor: */
  Joint(const Joint& joints);
  /* size NrJoints, content copied from d: */
  Joint(unsigned int NrJoints, const Real d[]);
 
  /* destructor: */
  virtual ~Joint();
 
  /* adjust the size of the Joint: */
  void setNrJoints(unsigned int NrJoints);
  /* make all elements zero: */
  void zero();
 
  /* element access (write): */
 
  /* set element i to value d: */
  void set(unsigned int i, Real d);
  Real& operator[](unsigned int i);
  /* set Joint to size NrJoints and copy contents from d: */
  void set(unsigned int NrJoints, Real* d);
  /* copy constructor: */
  // void set(unsigned int const Joint& _rhs);
 
  /* element access (read): */
 
  /* return element i: */
  Real get(unsigned int i) const;
  Real operator[](unsigned int i) const;
  /* copy Joint values to array d (d must have enough allocated memory!): */
  void get(unsigned int NrJoints, Real* d) const;
  /* return number of elements: */
  unsigned int size() const;
 
  /* Return value of the largest/smallest component: */
  Real getMax() const;
  Real getMin() const;
 
  /* Return Index of largest/smallest component: */
  unsigned int getMaxInd() const;
  unsigned int getMinInd() const;
 
  /* calculate this + (j2-this)*f: */
  Joint interpolate(const Joint& j2, Real f) const;
  /* set this joint to j1 + (j2-j1)*f: */
  static Joint interpolate(const Joint& j1, const Joint& j2, Real f);
 
  /* convert the Joint from Deg to Rad or vice versa: */
  void toRad();
  void toDeg();
 
  /* define various operators: */
 
  /* operator= */
  Joint& operator=(const Joint& joint);
 
  /* if length(this - rhs) < JOINT_EPSILON, they are considered equal: */
  bool operator==(const Joint& rhs) const;
 
  /* operators +, -, *, / */
  Joint operator-(const Joint& rhs) const;
  Joint operator+(const Joint& rhs) const;
  Joint operator*(Real s) const;
  Joint operator/(Real s) const;
 
  void operator+=(const Joint& rhs);
  void operator-=(const Joint& rhs);
  void operator*=(Real s);
  void operator/=(Real s);
 
  /* get euklidian norm (length), squared or normal */
  /* (not taking the root saves computation time) */
  Real lengthSqr() const;
  Real length() const;
 
  /* return string which looks like: (0.000, 1.000, 2.000, ...) */
  /* if convert is true, the values will be converted to degrees */
  std::string toString(bool convert = false) const;
  /* read in the joint from a c-string, format as above: */
  void fromString(unsigned int nrjoints, const char* str);
  void fromString(const char* str);
 
  /* input / output */
 
  /* operator<< is not a member function and defined below the class definition */
  /* same for operator>> */
 
  /* if for some reason printf should be used rather than operator<< use this: */
  void print();
 
  /* for compatibility with older code: */
  unsigned int getNrJoints() const
  {
    return size();
  }
 
private:
  unsigned int m_NrJoints;
  Real* m_Joints;
};
 
typedef Joint<double> Jointd;
typedef Joint<float> Jointf;
 
/*******************************************************************************
 * prototypes for std input output                                             *
 *******************************************************************************/
 
template <class Real>
std::ostream& operator<<(std::ostream& _os, const Joint<Real>& joint);
 
template <class Real>
std::istream& operator>>(std::istream&, Joint<Real>& joint);
 
/*******************************************************************************
 * function for spline compatibility                                           *
 *******************************************************************************/
 
template <class Real>
inline double Distance(const Joint<Real>& j1, const Joint<Real>& j2)
{
  return (j1 - j2).length();
}
 
/*******************************************************************************
 *  Inline function implementation:                                            *
 *******************************************************************************/
 
/* empty Joint, no elements: */
template <class Real>
inline Joint<Real>::Joint()
{
  m_NrJoints = 0;
  m_Joints = NULL;
}
 
/* joint of size NrJoints, zero=false: uninitialized, zero=true -> all elements zero: */
template <class Real>
inline Joint<Real>::Joint(unsigned int NrJoints, bool _zero)
{
  m_NrJoints = NrJoints;
  m_Joints = new Real[m_NrJoints];
 
  if (_zero)
    zero();
}
 
/* copy constructor: */
template <class Real>
inline Joint<Real>::Joint(const Joint<Real>& rhs)
{
  m_NrJoints = rhs.m_NrJoints;
  m_Joints = new Real[rhs.m_NrJoints];
 
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] = rhs.m_Joints[i];
}
 
/* size NrJoints, content copied from d: */
template <class Real>
inline Joint<Real>::Joint(unsigned int NrJoints, const Real d[])
{
  m_NrJoints = NrJoints;
  m_Joints = new Real[m_NrJoints];
 
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] = d[i];
}
 
/* destructor: */
template <class Real>
inline Joint<Real>::~Joint()
{
  if (m_Joints)
    delete[] m_Joints;
}
 
/* adjust the size of the Joint: */
template <class Real>
inline void Joint<Real>::setNrJoints(unsigned int NrJoints)
{
  /* keep old values, if smaller than before cutoff, if larger fill with zeros: */
 
  Real* old_m_Joints = m_Joints;
  m_Joints = new Real[NrJoints];
 
  for (unsigned int i = 0; i < NrJoints; i++)
  {
    if (i < m_NrJoints)
      m_Joints[i] = old_m_Joints[i];
    else
      m_Joints[i] = 0.0;
  }
 
  if (old_m_Joints)
    delete[] old_m_Joints;
 
  m_NrJoints = NrJoints;
}
 
/* make all elements zero: */
template <class Real>
inline void Joint<Real>::zero()
{
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] = 0.0;
}
 
/* element access (write): */
 
/* set element i to value d: */
template <class Real>
inline void Joint<Real>::set(unsigned int i, Real d)
{
#ifndef JOINT_NO_RANGECHECK
  if ((m_Joints == NULL) || (i >= m_NrJoints))
    throw Joint_Exception(__FILE__, __LINE__, "tried to acces an element out of Joint range!");
#endif
  m_Joints[i] = d;
}
 
template <class Real>
inline Real& Joint<Real>::operator[](unsigned int i)
{
#ifndef JOINT_NO_RANGECHECK
  if ((m_Joints == NULL) || (i >= m_NrJoints))
    throw Joint_Exception(__FILE__, __LINE__, "tried to acces an element out of Joint range!");
#endif
  return m_Joints[i];
}
 
/* set Joint to size NrJoints and copy contents from d: */
template <class Real>
inline void Joint<Real>::set(unsigned int NrJoints, Real* d)
{
#ifndef JOINT_NO_RANGECHECK
  if ((!m_Joints) || (NrJoints != m_NrJoints))
    setNrJoints(NrJoints);
#endif
 
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] = d[i];
}
 
/* element access (read): */
 
/* return element i: */
template <class Real>
inline Real Joint<Real>::get(unsigned int i) const
{
#ifndef JOINT_NO_RANGECHECK
  if ((m_Joints == NULL) || (i >= m_NrJoints))
    throw Joint_Exception(__FILE__, __LINE__, "tried to acces an element out of Joint range!");
#endif
 
  return m_Joints[i];
}
 
template <class Real>
inline Real Joint<Real>::operator[](unsigned int i) const
{
  return get(i);
}
 
/* copy Joint values to array d (d must have enough allocated memory!): */
template <class Real>
inline void Joint<Real>::get(unsigned int NrJoints, Real* d) const
{
#ifndef JOINT_NO_RANGECHECK
  if ((m_Joints == NULL) || (NrJoints > m_NrJoints))
    throw Joint_Exception(__FILE__, __LINE__, "tried to acces an element out of Joint range!");
#endif
 
  for (unsigned int i = 0; i < m_NrJoints; i++)
    d[i] = m_Joints[i];
}
 
/* return number of elements: */
template <class Real>
inline unsigned int Joint<Real>::size() const
{
  return m_NrJoints;
}
 
/* Return value of the largest/smallest component: */
template <class Real>
inline Real Joint<Real>::getMax() const
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints == 0)
    throw Joint_Exception(__FILE__, __LINE__, "tried to call getMax on empty Joint!");
#endif
 
  Real max = m_Joints[0];
  for (unsigned int i = 1; i < m_NrJoints; i++)
    max = (m_Joints[i] > max) ? m_Joints[i] : max;
  return max;
}
 
template <class Real>
inline Real Joint<Real>::getMin() const
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints == 0)
    throw Joint_Exception(__FILE__, __LINE__, "tried to call getMin on empty Joint!");
#endif
 
  Real min = m_Joints[0];
  for (unsigned int i = 1; i < m_NrJoints; i++)
    min = (m_Joints[i] < min) ? m_Joints[i] : min;
  return min;
}
 
/* Return Index of largest/smallest component: */
template <class Real>
inline unsigned int Joint<Real>::getMaxInd() const
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints == 0)
    throw Joint_Exception(__FILE__, __LINE__, "tried to call getMaxInd on empty Joint!");
#endif
 
  Real max = m_Joints[0];
  unsigned int maxI = 0;
 
  for (unsigned int i = 1; i < m_NrJoints; i++)
  {
    if (m_Joints[i] > max)
    {
      max = m_Joints[i];
      maxI = i;
    }
  }
  return maxI;
}
 
template <class Real>
inline unsigned int Joint<Real>::getMinInd() const
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints == 0)
    throw Joint_Exception(__FILE__, __LINE__, "tried to call getMinInd on empty Joint!");
#endif
 
  Real min = m_Joints[0];
  unsigned int minI = 0;
 
  for (unsigned int i = 1; i < m_NrJoints; i++)
  {
    if (m_Joints[i] < min)
    {
      min = m_Joints[i];
      minI = i;
    }
  }
  return minI;
}
 
/* calculate this + (j2-this)*f: */
template <class Real>
inline Joint<Real> Joint<Real>::interpolate(const Joint& j2, Real f) const
{
#ifndef JOINT_NO_RANGECHECK
  if ((m_Joints == NULL) || (j2.size() != m_NrJoints))
    throw Joint_Exception(__FILE__, __LINE__, "Joint dimensions mismatch in interpolate!");
#endif
 
  Joint<Real> result(m_NrJoints);
 
  for (unsigned int i = 0; i < m_NrJoints; i++)
    result[i] = m_Joints[i] + (j2[i] - m_Joints[i]) * f;
 
  return result;
}
 
/* calculate j1 + (j2-j1)*f: */
template <class Real>
inline Joint<Real> Joint<Real>::interpolate(const Joint& j1, const Joint& j2, Real f)
{
#ifndef JOINT_NO_RANGECHECK
  if (j1.size() != j2.size())
    throw Joint_Exception(__FILE__, __LINE__, "Joint dimensions mismatch in interpolate!");
#endif
 
  Joint<Real> result(j1.size());
 
  for (unsigned int i = 0; i < j1.size(); i++)
    result[i] = j1[i] + f * (j2[i] - j1[i]);
 
  return result;
}
 
/* convert the Joint from Deg to Rad or vice versa: */
template <class Real>
inline void Joint<Real>::toRad()
{
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] *= RADS_PER_DEG;  // 0.017453292;
}
 
template <class Real>
inline void Joint<Real>::toDeg()
{
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] *= DEGS_PER_RAD;  // 57.29577951;
  // 57.29577951 = 180 / Pi
}
 
/* define various operators: */
 
/* operator= */
template <class Real>
inline Joint<Real>& Joint<Real>::operator=(const Joint<Real>& joint)
{
  if (joint.size() != m_NrJoints)
    setNrJoints(joint.size());
 
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] = joint[i];
 
  return *this;
}
 
/* if length(this - rhs) < JOINT_EPSILON, they are considered equal: */
template <class Real>
inline bool Joint<Real>::operator==(const Joint& joint2) const
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints != joint2.size())
    return false;
  else
  {
#endif
 
    // Wenn betragsquadrat(joint1-joint2) < epsilon sind joints "gleich"
    Joint<Real> diff = *this - joint2;
    if (diff.lengthSqr() < JOINT_EPSILON)
      return true;
    else
      return false;
 
#ifndef JOINT_NO_RANGECHECK
  }
#endif
}
 
/* operators +, -, *, / */
template <class Real>
inline Joint<Real> Joint<Real>::operator+(const Joint<Real>& rhs) const
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints != rhs.size())
    throw Joint_Exception(__FILE__, __LINE__, "Joint dimensions mismatch in operator+ !");
#endif
 
  Joint<Real> result(*this);
  for (unsigned int i = 0; i < m_NrJoints; i++)
  {
    result.m_Joints[i] += rhs[i];
  }
  return result;
}
 
template <class Real>
inline Joint<Real> Joint<Real>::operator-(const Joint<Real>& rhs) const
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints != rhs.size())
    throw Joint_Exception(__FILE__, __LINE__, "Joint dimensions mismatch in operator- !");
#endif
 
  Joint<Real> result(*this);
  for (unsigned int i = 0; i < m_NrJoints; i++)
  {
    result.m_Joints[i] -= rhs[i];
  }
  return result;
}
 
template <class Real>
inline Joint<Real> Joint<Real>::operator*(Real s) const
{
  Joint<Real> result(*this);
  for (unsigned int i = 0; i < m_NrJoints; i++)
    result.m_Joints[i] *= s;
  return result;
}
 
template <class Real>
inline Joint<Real> Joint<Real>::operator/(Real s) const
{
  Joint<Real> result(*this);
  if (fabs(s) > std::numeric_limits<Real>::epsilon())
    for (unsigned int i = 0; i < m_NrJoints; i++)
      result.m_Joints[i] /= s;
  else
    throw Joint_Exception(__FILE__, __LINE__, "Attempt to divide by zero in operator/ !");
 
  return result;
}
 
/* operators +=, -=, *=, /= */
template <class Real>
inline void Joint<Real>::operator+=(const Joint<Real>& rhs)
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints != rhs.size())
    throw Joint_Exception(__FILE__, __LINE__, "Joint dimensions mismatch in operator+= !");
#endif
 
  for (unsigned int i = 0; i < m_NrJoints; i++)
  {
    m_Joints[i] += rhs[i];
  }
}
 
template <class Real>
inline void Joint<Real>::operator-=(const Joint<Real>& rhs)
{
#ifndef JOINT_NO_RANGECHECK
  if (m_NrJoints != rhs.size())
    throw Joint_Exception(__FILE__, __LINE__, "Joint dimensions mismatch in operator-= !");
#endif
 
  for (unsigned int i = 0; i < m_NrJoints; i++)
  {
    m_Joints[i] -= rhs[i];
  }
}
 
template <class Real>
inline void Joint<Real>::operator*=(Real s)
{
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] *= s;
}
 
template <class Real>
inline void Joint<Real>::operator/=(Real s)
{
  if (fabs(s) > std::numeric_limits<Real>::epsilon())
    for (unsigned int i = 0; i < m_NrJoints; i++)
      m_Joints[i] /= s;
  else
    throw Joint_Exception(__FILE__, __LINE__, "Attempt to divide by zero in operator/= !");
}
 
/* get euklidian norm (length), squared or normal */
/* (not taking the root saves computation time) */
template <class Real>
inline Real Joint<Real>::lengthSqr() const
{
  Real l = 0;
  for (unsigned int i = 0; i < getNrJoints(); i++)
  {
    l += m_Joints[i] * m_Joints[i];
  }
  return l;
}
 
template <class Real>
inline Real Joint<Real>::length() const
{
  return sqrt(lengthSqr());
}
 
/* return string which looks like: (0.000, 1.000, 2.000, ...) */
/* if convert is true, the values will be converted to degrees */
template <class Real>
inline std::string Joint<Real>::toString(bool convert) const
{
  char out[10];
  std::string str("(");
  for (unsigned int i = 0; i < m_NrJoints; i++)
  {
    if (i != 0)
      str += ",";
    if (convert)
      sprintf(out, "%3.3lf", m_Joints[i] * DEGS_PER_RAD);
    else
      sprintf(out, "%3.6lf", m_Joints[i]);
    str += std::string(out);
  }
  str += ")";
  return str;
}
 
/* read in the joint from a c-string, format as above: */
template <class Real>
inline void Joint<Real>::fromString(unsigned int nrjoints, const char* str)
{
  /* resize the joint if necessary */
  if (nrjoints != m_NrJoints)
    setNrJoints(nrjoints);
 
  const char* start = strrchr(str, '(');
  const char* end = strrchr(str, ')');
  if (end > start)
  {
    int n = end - start;
    char* numbers = new char[n];
    strncpy(numbers, start + 1, n - 1);
    char* pch = strtok(numbers, ",");
    unsigned int i = 0;
    while (pch != NULL && i < nrjoints)
    {
      // cout << pch << endl;
      set(i, atof(pch));
      i++;
      pch = strtok(NULL, ",");
    }
    delete numbers;
  }
}
 
/* read in the joint from a c-string, format as above: */
template <class Real>
inline void Joint<Real>::fromString(const char* str)
{
  std::vector<Real> vec;
 
  const char* start = strrchr(str, '(');
  const char* end = strrchr(str, ')');
  if (end > start)
  {
    int n = end - start;
    char* numbers = new char[n];
    strncpy(numbers, start + 1, n - 1);
    char* pch = strtok(numbers, ",");
    // int i = 0;
    while (pch != NULL)
    {
      // cout << pch << endl;
      vec.push_back(atof(pch));
      pch = strtok(NULL, ",");
    }
  }
 
  setNrJoints(vec.size());
  for (unsigned int i = 0; i < m_NrJoints; i++)
    m_Joints[i] = vec[i];
}
 
/* if for some reason printf should be used rather than operator<< use this: */
template <class Real>
inline void Joint<Real>::print()
{
  for (unsigned int i = 0; i < m_NrJoints; i++)
    printf("%f ", get(i));
  printf("\n");
}
 
template <class Real>
inline std::ostream& operator<<(std::ostream& _os, const Joint<Real>& joint)
 
{
  std::string str = joint.toString();
  _os << str;
  return _os;
}
 
template <class Real>
inline std::istream& operator>>(std::istream& _is, Joint<Real>& joint)
{
  char c_str[255];
  _is.get(c_str, 255);
  joint.fromString(c_str);
  return _is;
}
 
#endif
 
#ifdef SWIG
%module Util
%include Source/Manipulation/ManipUtil/datastructsManipulator.h
%include Source/Manipulation/ManipUtil/Trajectory.h
%{
  #include "Joint.h"
%}
%include "std_vector.i"
%template(Jointd) Joint<double>;
#endif