joint.h

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/* Author: Wim Meeussen */
 
#ifndef TESSERACT_SCENE_GRAPH_JOINT_H
#define TESSERACT_SCENE_GRAPH_JOINT_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <string>
#include <memory>
#include <iosfwd>
#include <Eigen/Geometry>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_scene_graph
{
class Link;
 
class JointDynamics
{
public:
  using Ptr = std::shared_ptr<JointDynamics>;
  using ConstPtr = std::shared_ptr<const JointDynamics>;
 
  JointDynamics() = default;
  JointDynamics(double damping, double friction);
  ~JointDynamics() = default;
 
  JointDynamics(const JointDynamics&) = default;
  JointDynamics& operator=(const JointDynamics&) = default;
  JointDynamics(JointDynamics&&) = default;
  JointDynamics& operator=(JointDynamics&&) = default;
 
  double damping{ 0 };
  double friction{ 0 };
 
  void clear();
 
  bool operator==(const JointDynamics& rhs) const;
  bool operator!=(const JointDynamics& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
std::ostream& operator<<(std::ostream& os, const JointDynamics& dynamics);
 
class JointLimits
{
public:
  using Ptr = std::shared_ptr<JointLimits>;
  using ConstPtr = std::shared_ptr<const JointLimits>;
 
  JointLimits() = default;
  JointLimits(double l, double u, double e, double v, double a, double j);
  ~JointLimits() = default;
 
  JointLimits(const JointLimits&) = default;
  JointLimits& operator=(const JointLimits&) = default;
  JointLimits(JointLimits&&) = default;
  JointLimits& operator=(JointLimits&&) = default;
 
  double lower{ 0 };
  double upper{ 0 };
  double effort{ 0 };
  double velocity{ 0 };
  double acceleration{ 0 };
  double jerk{ 0 };
 
  void clear();
 
  bool operator==(const JointLimits& rhs) const;
  bool operator!=(const JointLimits& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
std::ostream& operator<<(std::ostream& os, const JointLimits& limits);
 
class JointSafety
{
public:
  using Ptr = std::shared_ptr<JointSafety>;
  using ConstPtr = std::shared_ptr<const JointSafety>;
 
  JointSafety() = default;
  JointSafety(double soft_upper_limit, double soft_lower_limit, double k_position, double k_velocity);
  ~JointSafety() = default;
 
  JointSafety(const JointSafety&) = default;
  JointSafety& operator=(const JointSafety&) = default;
  JointSafety(JointSafety&&) = default;
  JointSafety& operator=(JointSafety&&) = default;
 
  double soft_upper_limit{ 0 };
  double soft_lower_limit{ 0 };
  double k_position{ 0 };
  double k_velocity{ 0 };
 
  void clear();
 
  bool operator==(const JointSafety& rhs) const;
  bool operator!=(const JointSafety& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
std::ostream& operator<<(std::ostream& os, const JointSafety& safety);
 
class JointCalibration
{
public:
  using Ptr = std::shared_ptr<JointCalibration>;
  using ConstPtr = std::shared_ptr<const JointCalibration>;
 
  JointCalibration() = default;
  JointCalibration(double reference_position, double rising, double falling);
  ~JointCalibration() = default;
 
  JointCalibration(const JointCalibration&) = default;
  JointCalibration& operator=(const JointCalibration&) = default;
  JointCalibration(JointCalibration&&) = default;
  JointCalibration& operator=(JointCalibration&&) = default;
 
  double reference_position{ 0 };
  double rising{ 0 };
  double falling{ 0 };
 
  void clear();
 
  bool operator==(const JointCalibration& rhs) const;
  bool operator!=(const JointCalibration& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
std::ostream& operator<<(std::ostream& os, const JointCalibration& calibration);
 
class JointMimic
{
public:
  using Ptr = std::shared_ptr<JointMimic>;
  using ConstPtr = std::shared_ptr<const JointMimic>;
 
  JointMimic() = default;
  JointMimic(double offset, double multiplier, std::string joint_name);
  ~JointMimic() = default;
 
  JointMimic(const JointMimic&) = default;
  JointMimic& operator=(const JointMimic&) = default;
  JointMimic(JointMimic&&) = default;
  JointMimic& operator=(JointMimic&&) = default;
 
  double offset{ 0 };
  double multiplier{ 1.0 };
  std::string joint_name;
 
  void clear();
 
  bool operator==(const JointMimic& rhs) const;
  bool operator!=(const JointMimic& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
std::ostream& operator<<(std::ostream& os, const JointMimic& mimic);
 
enum class JointType : std::uint8_t
{
  UNKNOWN,
  REVOLUTE,
  CONTINUOUS,
  PRISMATIC,
  FLOATING,
  PLANAR,
  FIXED
};
 
class Joint
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using Ptr = std::shared_ptr<Joint>;
  using ConstPtr = std::shared_ptr<const Joint>;
 
  Joint(std::string name);
  Joint() = default;
  ~Joint() = default;
  // Joints are non-copyable as their name must be unique
  Joint(const Joint& other) = delete;
  Joint& operator=(const Joint& other) = delete;
 
  Joint(Joint&& other) = default;
  Joint& operator=(Joint&& other) = default;
 
  const std::string& getName() const;
 
  JointType type{ JointType::UNKNOWN };
 
  Eigen::Vector3d axis;
 
  std::string child_link_name;
 
  std::string parent_link_name;
 
  Eigen::Isometry3d parent_to_joint_origin_transform{ Eigen::Isometry3d::Identity() };
 
  JointDynamics::Ptr dynamics;
 
  JointLimits::Ptr limits;
 
  JointSafety::Ptr safety;
 
  JointCalibration::Ptr calibration;
 
  JointMimic::Ptr mimic;
 
  void clear();
 
  Joint clone() const;
 
  /* Create a clone of current joint, with a new name. Child link name and parent link name are unchanged.
   * All underlying properties, such as dynamics, limits... are copied as well.*/
  Joint clone(const std::string& name) const;
 
  bool operator==(const Joint& rhs) const;
  bool operator!=(const Joint& rhs) const;
 
private:
  std::string name_;
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
std::ostream& operator<<(std::ostream& os, const JointType& type);
 
}  // namespace tesseract_scene_graph
 
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::JointDynamics)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::JointLimits)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::JointSafety)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::JointCalibration)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::JointMimic)
BOOST_CLASS_EXPORT_KEY(tesseract_scene_graph::Joint)
 
#endif  // TESSERACT_SCENE_GRAPH_JOINT_H