joint.h

 
#ifndef SPATIAL_DYN_STRUCTS_JOINT_H_
#define SPATIAL_DYN_STRUCTS_JOINT_H_
 
#include <limits>   // std::numeric_limits
#include <ostream>  // std::ostream
#include <string>   // std::string
 
#include "spatial_dyn/eigen/spatial_math.h"
 
namespace spatial_dyn {
 
class Joint {
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  enum class Type {
    kUndefined,  
    kRx,         
    kRy,         
    kRz,         
    kPx,         
    kPy,         
    kPz          
  };
 
  Joint() {}
 
  Joint(Type type);
 
  Joint(const std::string& type);
 
  Type type() const { return type_; }
 
  void set_type(Type type);
 
  bool is_prismatic() const;
 
  bool is_revolute() const;
 
  const SpatialMotiond& subspace() const { return subspace_; }
 
  double q_min() const { return q_min_; }
 
  void set_q_min(double q_min);
 
  double q_max() const { return q_max_; }
 
  void set_q_max(double q_max);
 
  void set_q_limits(double q_min, double q_max);
 
  double dq_max() const { return dq_max_; }
 
  void set_dq_max(double dq_max);
 
  double fq_max() const { return fq_max_; }
 
  void set_fq_max(double fq_max);
 
  double f_coulomb() const { return f_coulomb_; }
 
  void set_f_coulomb(double f_coulomb);
 
  double f_viscous() const { return f_viscous_; }
 
  void set_f_viscous(double f_viscous);
 
  double f_stiction() const { return f_stiction_; }
 
  void set_f_stiction(double f_stiction);
 
  Eigen::Isometry3d T_joint(double q) const;
 
 protected:
 
  Type type_ = Type::kUndefined;
  SpatialMotiond subspace_ = SpatialMotiond::Zero();
 
  double q_min_  = -std::numeric_limits<double>::infinity();
  double q_max_  = std::numeric_limits<double>::infinity();
  double dq_max_ = std::numeric_limits<double>::infinity();
  double fq_max_ = std::numeric_limits<double>::infinity();
  double f_coulomb_  = 0.;
  double f_viscous_  = 0.;
  double f_stiction_ = 0.;
 
};
 
std::ostream& operator<<(std::ostream& os, const Joint::Type& type);
 
std::istream& operator>>(std::istream& is, Joint::Type& type);
 
std::ostream& operator<<(std::ostream& os, const Joint& j);
 
}  // namespace spatial_dyn
 
#endif  // SPATIAL_DYN_STRUCTS_JOINT_H_